Update planning/behavior_path_planner/src/scene_module/dynamic_avoida…

…nce/dynamic_avoidance_module.cpp
autowarefoundation · Aug 19, 2023 · 0d81c72 · 0d81c72
1 parent dde50c6
commit 0d81c72
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...ing/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/...ing/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
@@ -108,8 +108,8 @@ std::pair<double, double> projectObstacleVelocityToTrajectory(
   const size_t obj_idx = motion_utils::findNearestIndex(path_points, obj_pose.position);
 
   const double obj_vel_yaw = std::atan2(
-    object.kinematics.initial_twist_with_covariance.twist.linear.x,
-    object.kinematics.initial_twist_with_covariance.twist.linear.y);
+    object.kinematics.initial_twist_with_covariance.twist.linear.y,
+    object.kinematics.initial_twist_with_covariance.twist.linear.x);
   const double path_yaw = tf2::getYaw(path_points.at(obj_idx).point.pose.orientation);
 
   return std::make_pair(