Summary

Improved return-to-center shift line generation in behavior_path_avoidance_module. Added a threshold and adjusted the shift point condition to reduce redundant or invalid shift lines.

Walkthrough

• Introduce a constant RETURN_SHIFT_THRESHOLD to define the minimum shift length for return-to-center shift lines (link)
• Modify the condition for registering return-to-center shift points to check both the initial and the last shift lengths (link)
• Avoid a potential null pointer dereference when accessing the last_ value by adding a has_value() check (link)

Poem

To avoid path collisions with care
We improved the shift line logic there
We added RETURN_SHIFT_THRESHOLD
To reduce the shift line wealth
And checked the last line in the pair

Emoji

🛣️🔧🚗

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