fix(lane_change): fix build error (autowarefoundation#3303)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
ktro2828 · Apr 7, 2023 · 810cc9d · 810cc9d
1 parent afbe07c
commit 810cc9d
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
@@ -86,8 +86,8 @@ bool LaneChangeModule::isExecutionRequested() const
   const auto current_lanes =
     util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_);
   const auto lane_change_lanes = lane_change_utils::getLaneChangeLanes(
-    planner_data_, current_lanes, lane_change_lane_length_,
-    parameters_->lane_change_prepare_duration, direction_, type_);
+    planner_data_, current_lanes, lane_change_lane_length_, parameters_->prepare_duration,
+    direction_, type_);
 #endif
 
   if (lane_change_lanes.empty()) {
@@ -114,8 +114,8 @@ bool LaneChangeModule::isExecutionReady() const
   const auto current_lanes =
     util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_);
   const auto lane_change_lanes = lane_change_utils::getLaneChangeLanes(
-    planner_data_, current_lanes, lane_change_lane_length_,
-    parameters_->lane_change_prepare_duration, direction_, type_);
+    planner_data_, current_lanes, lane_change_lane_length_, parameters_->prepare_duration,
+    direction_, type_);
 #endif
 
   if (lane_change_lanes.empty()) {
@@ -254,8 +254,8 @@ CandidateOutput LaneChangeModule::planCandidate() const
   const auto current_lanes =
     util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_);
   const auto lane_change_lanes = lane_change_utils::getLaneChangeLanes(
-    planner_data_, current_lanes, lane_change_lane_length_,
-    parameters_->lane_change_prepare_duration, direction_, type_);
+    planner_data_, current_lanes, lane_change_lane_length_, parameters_->prepare_duration,
+    direction_, type_);
 #endif
 
   if (lane_change_lanes.empty()) {
@@ -334,8 +334,8 @@ void LaneChangeModule::updateLaneChangeStatus()
   status_.current_lanes =
     util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_);
   status_.lane_change_lanes = lane_change_utils::getLaneChangeLanes(
-    planner_data_, status_.current_lanes, lane_change_lane_length_,
-    parameters_->lane_change_prepare_duration, direction_, type_);
+    planner_data_, status_.current_lanes, lane_change_lane_length_, parameters_->prepare_duration,
+    direction_, type_);
 #endif
 
   // Find lane change path

diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp
@@ -360,7 +360,7 @@ std::pair<bool, bool> getLaneChangePaths(
 #else
     const auto prepare_segment = getPrepareSegment(
       original_path, original_lanelets, pose, backward_path_length, prepare_distance,
-      std::max(prepare_speed, minimum_lane_change_velocity));
+      std::max(prepare_speed, minimum_lane_changing_velocity));
 #endif
 
     if (prepare_segment.points.empty()) {