fix check algorithm

autowarefoundation · Nov 24, 2022 · 387285f · 387285f
1 parent 390beac
commit 387285f
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
@@ -209,7 +209,6 @@ class AvoidanceModule : public SceneModuleInterface
   // for raw_shift_line registration
   AvoidLineArray registered_raw_shift_lines_;
   AvoidLineArray current_raw_shift_lines_;
-  AvoidLineArray init_raw_shift_lines_;
   void registerRawShiftLines(const AvoidLineArray & future_registered);
   void updateRegisteredRawShiftLines();
 

diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -131,8 +131,8 @@ bool AvoidanceModule::isAvoidanceManeuverRunning() const
 {
   const auto path_idx = avoidance_data_.ego_closest_path_index;
 
-  for (const auto & al : init_raw_shift_lines_) {
-    if (path_idx > al.start_idx) {
+  for (const auto & al : registered_raw_shift_lines_) {
+    if (path_idx > al.start_idx || registered_raw_shift_lines_.size() == 1) {
       return true;
     }
   }
@@ -546,7 +546,6 @@ void AvoidanceModule::registerRawShiftLines(const AvoidLineArray & future)
     }
   }
 
-  init_raw_shift_lines_ = registered_raw_shift_lines_;
   DEBUG_PRINT("registered object size: %lu -> %lu", old_size, registered_raw_shift_lines_.size());
 }