comment-aligned changes

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
autowarefoundation · Sep 8, 2023 · 0560fd2 · 0560fd2
1 parent 242cee3
commit 0560fd2
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -675,7 +675,7 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output)
 
       output.path = std::make_shared<PathWithLaneId>(current_path);
       output.reference_path = getPreviousModuleOutput().reference_path;
-    } else {
+    } else if (status_.has_decided_path && isActivated()) {
       // situation : not safe against dynamic objects after approval
       // insert stop point in current path if ego is able to stop with acceleration and jerk
       // constraints
@@ -1111,14 +1111,12 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath()
 PathWithLaneId GoalPlannerModule::generateStopPointInCurrentPath()
 {
   const auto & current_pose = planner_data_->self_odometry->pose.pose;
+  auto current_path = getCurrentPath();
 
-  if (status_.current_lanes.empty()) {
+  if (status_.current_lanes.empty() || current_path.points.empty()) {
     return PathWithLaneId{};
   }
 
-  // get current path
-  auto current_path = getCurrentPath();
-
   // try to insert stop point in current_path after approval
   // but if can't stop with constraints(maximum deceleration, maximum jerk), don't insert stop point
   const auto min_stop_distance = calcFeasibleDecelDistance(