fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Aug 1, 2023 · 36cd8fe · 36cd8fe
1 parent 60e6ba6
commit 36cd8fe
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -148,6 +148,7 @@ class CrosswalkModule : public SceneModuleInterface
             ego_pass_first_additional_margin <
           collision_point->time_to_vehicle) {
           collision_state = CollisionState::EGO_PASS_FIRST;
+          return;
         }
         // Check if ego will pass later
         const double ego_pass_later_additional_margin =
@@ -159,8 +160,10 @@ class CrosswalkModule : public SceneModuleInterface
             ego_pass_later_additional_margin <
           collision_point->time_to_collision) {
           collision_state = CollisionState::EGO_PASS_LATER;
+          return;
         }
         collision_state = CollisionState::YIELD;
+        return;
       }
     }
   };