fix(map_based_prediction): fix search dist (#1348)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
autowarefoundation · Jul 14, 2022 · e35719c · e35719c
1 parent adf9cc0
commit e35719c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -814,7 +814,7 @@ std::vector<PredictedRefPath> MapBasedPredictionNode::getPredictedReferencePath(
   const double object_detected_time)
 {
   const double delta_horizon = 1.0;
-  const double obj_vel = object.kinematics.twist_with_covariance.twist.linear.x;
+  const double obj_vel = std::fabs(object.kinematics.twist_with_covariance.twist.linear.x);
 
   std::vector<PredictedRefPath> all_ref_paths;
   for (const auto & current_lanelet_data : current_lanelets_data) {