From 5b656dc33730045e883572ad15c1230cd79f0978 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Tue, 5 Sep 2023 22:08:59 +0900 Subject: [PATCH] add comments Signed-off-by: kosuke55 --- planning/behavior_path_planner/src/utils/goal_planner/util.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp index 6a19ba3690764..aa3380c2b99df 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp @@ -62,6 +62,7 @@ lanelet::ConstLanelets getPullOverLanes( const Pose goal_pose = route_handler.getOriginalGoalPose(); // Buffer to get enough lanes in front of the goal, need much longer than the pull over distance. + // In the case of loop lanes, it may not be possible to extend the lane forward. // todo(kosuek55): automatically calculates this distance. const double backward_distance_with_buffer = backward_distance + 100;