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fix(obstacle_avoidance_planner): fix lat_dist_to_front_bound comparison #2594

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merged 2 commits into from
Jan 6, 2023
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fix(obstacle_avoidance_planner): fix lat_dist_to_front_bound comparison #2594

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07f4efd
fix(obstacle_avoidance_planner): fix lat_dist_to_front_bound comparison
mehmetdogru Dec 27, 2022
067ebcb
fix: update comment
mehmetdogru Dec 27, 2022
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4 changes: 2 additions & 2 deletions planning/obstacle_avoidance_planner/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -641,10 +641,10 @@ bool isOutsideDrivableArea(
const auto left_start_point = getStartPoint(left_bound, right_bound.front());
const auto right_start_point = getStartPoint(right_bound, left_bound.front());

// ignore point in front of the front line
// ignore point behind of the front line
const std::vector<geometry_msgs::msg::Point> front_bound = {left_start_point, right_start_point};
const double lat_dist_to_front_bound = motion_utils::calcLateralOffset(front_bound, point);
if (lat_dist_to_front_bound > min_dist) {
if (lat_dist_to_front_bound < -min_dist) {
return false;
}

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