fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp

@@ -218,6 +218,16 @@ class DynamicAvoidanceModule : public SceneModuleInterface
       }
       return object_map_.at(uuid);
     }
+    void updateObject(
+      const std::string & uuid, const MinMaxValue & lon_offset_to_avoid,
+      const MinMaxValue & lat_offset_to_avoid, const bool is_collision_left,
+      const bool should_be_avoided)
+    {
+      if (object_map_.count(uuid) != 0) {
+        object_map_.at(uuid).update(
+          lon_offset_to_avoid, lat_offset_to_avoid, is_collision_left, should_be_avoided);
+      }
+    }
 
     std::vector<std::string> current_uuids_;
     // NOTE: positive is for meeting entrying condition, and negative is for exiting.

planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp

@@ -424,7 +424,7 @@ void DynamicAvoidanceModule::updateTargetObjects()
   target_objects_manager_.finalize();
 
   // 2. Precise filtering of target objects and check if they should be avoided
-  for (auto & object : target_objects_manager_.getValidObjects()) {
+  for (const auto & object : target_objects_manager_.getValidObjects()) {
     const auto obj_uuid = object.uuid;
     const auto prev_object = getObstacleFromUuid(prev_objects, obj_uuid);
     const auto obj_path = *std::max_element(
@@ -505,7 +505,8 @@ void DynamicAvoidanceModule::updateTargetObjects()
       *path_points_for_object_polygon, obj_points, is_collision_left, prev_object);
 
     const bool should_be_avoided = true;
-    object.update(lon_offset_to_avoid, lat_offset_to_avoid, is_collision_left, should_be_avoided);
+    target_objects_manager_.updateObject(
+      obj_uuid, lon_offset_to_avoid, lat_offset_to_avoid, is_collision_left, should_be_avoided);
   }
 }