fix(behavior_path_planner): unable to fix bound (#3942)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Jun 13, 2023 · 463d4e2 · 463d4e2
1 parent fc8766e
commit 463d4e2
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -1510,8 +1510,11 @@ void generateDrivableArea(
   }
 
   // make bound longitudinally monotonic
-  makeBoundLongitudinallyMonotonic(path, true);   // for left bound
-  makeBoundLongitudinallyMonotonic(path, false);  // for right bound
+  // TODO(Murooka) Fix makeBoundLongitudinallyMonotonic
+  if (enable_expanding_polygon) {
+    makeBoundLongitudinallyMonotonic(path, true);   // for left bound
+    makeBoundLongitudinallyMonotonic(path, false);  // for right bound
+  }
 }
 
 // calculate bounds from drivable lanes and hatched road markings