Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(behavior_path_planner): unable to fix bound #3942

Merged
merged 1 commit into from
Jun 13, 2023
Merged

fix(behavior_path_planner): unable to fix bound #3942

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 5 additions & 2 deletions planning/behavior_path_planner/src/utils/utils.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down