Merge pull request #977 from satoshi-ota/hotfix/avoidance-2

fix(utils): fix drivable area expansion with intersection area
tier4 · Oct 31, 2023 · 54931e5 · 54931e5
2 parents d0b5e19 + 7cda3f0
commit 54931e5
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Showing 2 changed files with 249 additions and 119 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -232,6 +232,15 @@ std::vector<geometry_msgs::msg::Point> calcBound(
   const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas,
   const bool is_left);
 
+std::vector<lanelet::ConstPoint3d> getBoundWithHatchedRoadMarkings(
+  const std::vector<lanelet::ConstPoint3d> & original_bound,
+  const std::shared_ptr<RouteHandler> & route_handler);
+
+std::vector<lanelet::ConstPoint3d> getBoundWithIntersectionAreas(
+  const std::vector<lanelet::ConstPoint3d> & original_bound,
+  const std::shared_ptr<RouteHandler> & route_handler,
+  const std::vector<DrivableLanes> & drivable_lanes, const bool is_left);
+
 boost::optional<size_t> getOverlappedLaneletId(const std::vector<DrivableLanes> & lanes);
 std::vector<DrivableLanes> cutOverlappedLanes(
   PathWithLaneId & path, const std::vector<DrivableLanes> & lanes);