From e2a465cfce9490da33efe87718b0bedc44b92a0f Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 10 Aug 2023 17:53:10 +0900 Subject: [PATCH] tmp(lane_change): remove lateral check Signed-off-by: satoshi-ota --- .../src/scene_module/lane_change/normal.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 2f7c39f94604e..becb0440ae089 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -386,12 +386,12 @@ bool NormalLaneChange::hasFinishedLaneChange() const return false; } - const auto arc_length = lanelet::utils::getArcCoordinates(status_.target_lanes, current_pose); - const auto reach_target_lane = - std::abs(arc_length.distance) < lane_change_parameters_->finish_judge_lateral_threshold; - if (!reach_target_lane) { - return false; - } + // const auto arc_length = lanelet::utils::getArcCoordinates(status_.target_lanes, current_pose); + // const auto reach_target_lane = + // std::abs(arc_length.distance) < lane_change_parameters_->finish_judge_lateral_threshold; + // if (!reach_target_lane) { + // return false; + // } return true; }