fix(static_obstacle_avoidance): change implementation the logic to re…

…move invalid small shift lines (autowarefoundation#8721) (#1775) Co-authored-by: Satoshi OTA <[email protected]> fix(static_obstacle_avoidance): remove invalid small shift lines (autowarefoundation#8344)"
tier4 · Jan 18, 2025 · aee97ba · aee97ba
1 parent ab1b4d2
commit aee97ba
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/...nner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/...nner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
@@ -812,7 +812,7 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
 
   // fill gap among shift lines.
   for (size_t i = 0; i < sorted.size() - 1; ++i) {
-    if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal) {
+    if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal + 1e-3) {
       continue;
     }
 
@@ -827,8 +827,6 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
   utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(
     data, debug.step1_front_shift_line);
 
-  applySmallShiftFilter(ret, 1e-3);
-
   return ret;
 }