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fix(out_of_lane): prevent "Same points are given" error message #5643

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Nov 21, 2023
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fix(out_of_lane): prevent "Same points are given" error message #5643

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4 changes: 3 additions & 1 deletion planning/behavior_velocity_out_of_lane_module/src/filter_predicted_objects.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,10 @@
auto filtered_object = object;
const auto is_invalid_predicted_path = [&](const auto & predicted_path) {
const auto is_low_confidence = predicted_path.confidence < params.objects_min_confidence;
const auto no_overlap_path = motion_utils::removeOverlapPoints(predicted_path.path);

Check warning on line 47 in planning/behavior_velocity_out_of_lane_module/src/filter_predicted_objects.hpp

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planning/behavior_velocity_out_of_lane_module/src/filter_predicted_objects.hpp#L47 

Added line #L47 was not covered by tests
if (no_overlap_path.size() <= 1) return true;
const auto lat_offset_to_current_ego =
std::abs(motion_utils::calcLateralOffset(predicted_path.path, ego_data.pose.position));
std::abs(motion_utils::calcLateralOffset(no_overlap_path, ego_data.pose.position));
const auto is_crossing_ego =
lat_offset_to_current_ego <=
object.shape.dimensions.y / 2.0 + std::max(
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