fix(avoidance): fix build error

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

@@ -129,7 +129,7 @@
     return false;
   }
 
   return !avoid_data_.target_objects.empty();
 }
 
 bool AvoidanceModule::isExecutionReady() const
@@ -230,7 +230,7 @@
 
   // sort object order by longitudinal distance
   std::sort(data.target_objects.begin(), data.target_objects.end(), [](auto a, auto b) {
     return a.longitudinal < b.longitudinal;
   });
 
   // set base path
@@ -950,7 +950,7 @@
         std::max(o.longitudinal - offset - feasible_avoid_distance, 1e-3);
       al_avoid.start_idx = utils::avoidance::findPathIndexFromArclength(
         avoid_data_.arclength_from_ego, al_avoid.start_longitudinal + path_front_to_ego);
       al_avoid.start = avoid_data_.reference_path.points.at(al_avoid.start_idx).point.pose;
       al_avoid.start_shift_length = helper_.getLinearShift(al_avoid.start.position);
 
       al_avoid.end_shift_length = feasible_shift_length.get();
@@ -1223,7 +1223,7 @@
     ret.push_back(calc_gap_shift_line(shift_lines.at(i), shift_lines.at(i + 1)));
   }
 
-  utils::avoidance::fillAdditionalInfoFromLongitudinal(avoidance_data_, ret);
+  utils::avoidance::fillAdditionalInfoFromLongitudinal(avoid_data_, ret);
 
   return ret;
 }
@@ -1236,7 +1236,7 @@
     return;
   }
 
   const auto & data = avoid_data_;
 
   helper_.alignShiftLinesOrder(shift_lines, false);
 
@@ -1695,7 +1695,7 @@
     // so that the return-shift will be generated from ego position.
     if (!has_candidate_point && !has_registered_point) {
       last_sl.end_idx = avoid_data_.ego_closest_path_index;
       last_sl.end = avoid_data_.reference_path.points.at(last_sl.end_idx).point.pose;
       last_sl.end_shift_length = getCurrentBaseShift();
     }
   }
@@ -1737,7 +1737,7 @@
     DEBUG_PRINT(
       "return shift already exists, but they are all candidates. Add return shift for overwrite.");
     last_sl.end_idx = avoid_data_.ego_closest_path_index;
     last_sl.end = avoid_data_.reference_path.points.at(last_sl.end_idx).point.pose;
     last_sl.end_shift_length = current_base_shift;
   }
 
@@ -1753,7 +1753,7 @@
   const auto remaining_distance = arclength_from_ego.back() - parameters_->remain_buffer_distance;
 
   // If the avoidance point has already been set, the return shift must be set after the point.
   const auto last_sl_distance = avoid_data_.arclength_from_ego.at(last_sl.end_idx);
 
   // check if there is enough distance for return.
   if (last_sl_distance > remaining_distance) {  // tmp: add some small number (+1.0)
@@ -2108,7 +2108,7 @@
 
 BehaviorModuleOutput AvoidanceModule::plan()
 {
   const auto & data = avoid_data_;
 
   resetPathCandidate();
   resetPathReference();
@@ -2166,9 +2166,9 @@
   }
 
   if (isDrivingSameLane(helper_.getPreviousDrivingLanes(), data.current_lanelets)) {
     output.path = std::make_shared<PathWithLaneId>(spline_shift_path.path);
   } else {
     output.path = getPreviousModuleOutput().path;
     RCLCPP_WARN(getLogger(), "Previous module lane is updated. Do nothing.");
   }
 
@@ -2257,7 +2257,7 @@
 
   addNewShiftLines(path_shifter_, shift_lines);
 
   current_raw_shift_lines_ = avoid_data_.unapproved_raw_sl;
 
   registerRawShiftLines(shift_lines);
 
@@ -2333,7 +2333,7 @@
   }
 
   const double road_velocity = avoid_data_.reference_path.points.at(front_new_shift_line.start_idx)
                                  .point.longitudinal_velocity_mps;
   const double shift_time = PathShifter::calcShiftTimeFromJerk(
     front_new_shift_line.getRelativeLength(), helper_.getLateralMaxJerkLimit(),
     helper_.getLateralMaxAccelLimit());
@@ -2905,7 +2905,7 @@
 void AvoidanceModule::insertStopPoint(
   const bool use_constraints_for_decel, ShiftedPath & shifted_path) const
 {
   const auto & data = avoid_data_;
 
   if (data.safe) {
     return;