fix(behavior_velocity): occlusion spot partition (tier4#608)

boyali · Oct 3, 2022 · a20201e · a20201e
1 parent 57a7600
commit a20201e
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/...ng/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp b/...ng/behavior_velocity_planner/include/scene_module/occlusion_spot/scene_occlusion_spot.hpp
@@ -62,7 +62,6 @@ class OcclusionSpotModule : public SceneModuleInterface
   PlannerParam param_;
   tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
   std::vector<lanelet::BasicPolygon2d> partition_lanelets_;
-  std::vector<lanelet::BasicPolygon2d> close_partition_;
 
 protected:
   int64_t module_id_{};

diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
@@ -109,7 +109,8 @@ bool OcclusionSpotModule::modifyPathVelocity(
   std::vector<utils::PossibleCollisionInfo> possible_collisions;
   // extract only close lanelet
   if (param_.use_partition_lanelet) {
-    planning_utils::extractClosePartition(ego_pose.position, partition_lanelets_, close_partition_);
+    planning_utils::extractClosePartition(
+      ego_pose.position, partition_lanelets_, debug_data_.close_partition);
   }
   DEBUG_PRINT(show_time, "extract[ms]: ", stop_watch_.toc("processing_time", true));
   std::vector<geometry_msgs::msg::Point> parked_vehicle_point;
@@ -153,7 +154,6 @@ bool OcclusionSpotModule::modifyPathVelocity(
   utils::applySafeVelocityConsideringPossibleCollision(path, possible_collisions, param_);
   // these debug topics needs computation resource
   debug_data_.parked_vehicle_point = parked_vehicle_point;
-  debug_data_.close_partition = close_partition_;
   debug_data_.z = path->points.front().point.pose.position.z;
   debug_data_.possible_collisions = possible_collisions;
   debug_data_.interp_path = interp_path;