From 234a8a51698e8b20088a958cbb4b96986ebe85fd Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 15 Aug 2022 13:24:47 +0900
Subject: [PATCH] chore(motion_utils): minor change with nearest search readme

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 common/motion_utils/README.md                    | 2 +-
 common/motion_utils/media/ego_nearest_search.svg | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/motion_utils/README.md b/common/motion_utils/README.md
index 154da4bdf4387..d2a4ed6fecef0 100644
--- a/common/motion_utils/README.md
+++ b/common/motion_utils/README.md
@@ -94,7 +94,7 @@ Therefore, we recommended using the wrapper utility functions which require the
 For example, when we want to calculate the path length between the ego and the dynamic object, the implementation is as follows.
 
 ```cpp
-const size_t ego_nearest_idx = findFirstNearestSegmentIndex(points, ego_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold);
+const size_t ego_nearest_seg_idx = findFirstNearestSegmentIndex(points, ego_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold);
 const size_t dyn_obj_nearest_seg_idx = findFirstNearestSegmentIndex(points, dyn_obj_pose, dyn_obj_nearest_dist_threshold);
 const double length_from_ego_to_obj = calcSignedArcLength(points, ego_pose, ego_nearest_seg_idx, dyn_obj_pose, dyn_obj_nearest_seg_idx);
 ```
diff --git a/common/motion_utils/media/ego_nearest_search.svg b/common/motion_utils/media/ego_nearest_search.svg
index 164f420bf4853..42ed754fb2969 100644
--- a/common/motion_utils/media/ego_nearest_search.svg
+++ b/common/motion_utils/media/ego_nearest_search.svg
@@ -1,3 +1,3 @@
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text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1px; height: 1px; padding-top: 48px; margin-left: 184px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 9px; font-family: Helvetica; color: #3333FF; line-height: 1.2; pointer-events: all; background-color: #ffffff; white-space: nowrap; ">distance<br style="font-size: 9px" />threshold</div></div></div></foreignObject><text x="184" y="51" fill="#3333FF" font-family="Helvetica" font-size="9px" text-anchor="middle">distance...</text></switch></g><path d="M 206 102 L 283.96 136" fill="none" stroke="#3333ff" stroke-miterlimit="10" stroke-dasharray="3 3" pointer-events="stroke"/><rect x="17" y="3" width="40" height="20" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 13px; margin-left: 18px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 23px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">1.</div></div></div></foreignObject><text x="37" y="20" fill="#000000" font-family="Helvetica" font-size="23px" text-anchor="middle">1.</text></switch></g><rect x="580" y="3" width="40" height="20" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; 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margin-left: 18px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 23px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">3.</div></div></div></foreignObject><text x="37" y="242" fill="#000000" font-family="Helvetica" font-size="23px" text-anchor="middle">3.</text></switch></g><rect x="580" y="225" width="40" height="20" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 38px; height: 1px; padding-top: 235px; margin-left: 581px;"><div style="box-sizing: border-box; font-size: 0; text-align: center; "><div style="display: inline-block; font-size: 23px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">4.</div></div></div></foreignObject><text x="600" y="242" fill="#000000" font-family="Helvetica" font-size="23px" text-anchor="middle">4.</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://desk.draw.io/support/solutions/articles/16000042487" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Viewer does not support full SVG 1.1</text></a></switch></svg>
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