fix(lane_change): do not use reference values of polygon outer (#5318)

* fix(lane_change): do not use refelence values of polygon outer Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): fix in lane change Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>
autowarefoundation · Oct 16, 2023 · dad4722 · dad4722
1 parent 78d4d82
commit dad4722
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -835,7 +835,8 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject(
     // calc distance from the current ego position
     double max_dist_ego_to_obj = std::numeric_limits<double>::lowest();
     double min_dist_ego_to_obj = std::numeric_limits<double>::max();
-    for (const auto & polygon_p : obj_polygon.outer()) {
+    const auto obj_polygon_outer = obj_polygon.outer();
+    for (const auto & polygon_p : obj_polygon_outer) {
       const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
       const double dist_ego_to_obj = calcSignedArcLength(path.points, current_pose.position, obj_p);
       max_dist_ego_to_obj = std::max(dist_ego_to_obj, max_dist_ego_to_obj);

diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
@@ -51,7 +51,8 @@ bool isTargetObjectFront(
     tier4_autoware_utils::calcOffsetPose(ego_pose, base_to_front, 0.0, 0.0);
 
   // check all edges in the polygon
-  for (const auto & obj_edge : obj_polygon.outer()) {
+  const auto obj_polygon_outer = obj_polygon.outer();
+  for (const auto & obj_edge : obj_polygon_outer) {
     const auto obj_point = tier4_autoware_utils::createPoint(obj_edge.x(), obj_edge.y(), 0.0);
     if (tier4_autoware_utils::calcLongitudinalDeviation(ego_offset_pose, obj_point) > 0.0) {
       return true;
@@ -70,7 +71,8 @@ bool isTargetObjectFront(
     tier4_autoware_utils::calcOffsetPose(ego_pose, base_to_front, 0.0, 0.0).position;
 
   // check all edges in the polygon
-  for (const auto & obj_edge : obj_polygon.outer()) {
+  const auto obj_polygon_outer = obj_polygon.outer();
+  for (const auto & obj_edge : obj_polygon_outer) {
     const auto obj_point = tier4_autoware_utils::createPoint(obj_edge.x(), obj_edge.y(), 0.0);
     if (motion_utils::isTargetPointFront(path.points, ego_point, obj_point)) {
       return true;
@@ -134,7 +136,8 @@ Polygon2d createExtendedPolygon(
   double min_x = std::numeric_limits<double>::max();
   double max_y = std::numeric_limits<double>::lowest();
   double min_y = std::numeric_limits<double>::max();
-  for (const auto & polygon_p : obj_polygon.outer()) {
+  const auto obj_polygon_outer = obj_polygon.outer();
+  for (const auto & polygon_p : obj_polygon_outer) {
     const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
     const auto transformed_p = tier4_autoware_utils::inverseTransformPoint(obj_p, obj_pose);