From 0d81c72e903d17fdcbfadb3f436988955bdaeee7 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 17 Aug 2023 17:32:41 +0900 Subject: [PATCH] Update planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp --- .../dynamic_avoidance/dynamic_avoidance_module.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 2ba555c074ba1..8e6ab24929a00 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -108,8 +108,8 @@ std::pair 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(