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fix(behavior_path_planner): fix find nearest function from lateral distance #2499

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Dec 14, 2022
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fix(behavior_path_planner): fix find nearest function from lateral distance #2499

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feat(behavior_path_planner): fix find nearest function from lateral d…
purewater0901 Dec 14, 2022
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purewater0901 Dec 14, 2022
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4 changes: 3 additions & 1 deletion planning/behavior_path_planner/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,8 @@ size_t findNearestSegmentIndexFromLateralDistance(
{
size_t closest_idx = motion_utils::findNearestSegmentIndex(points, pose.position);
double min_lateral_dist =
motion_utils::calcLongitudinalOffsetToSegment(points, closest_idx, pose.position);
std::fabs(motion_utils::calcLateralOffset(points, pose.position, closest_idx));

for (size_t seg_idx = 0; seg_idx < points.size() - 1; ++seg_idx) {
const double lon_dist =
motion_utils::calcLongitudinalOffsetToSegment(points, seg_idx, pose.position);
Expand All @@ -94,6 +95,7 @@ size_t findNearestSegmentIndexFromLateralDistance(
std::fabs(motion_utils::calcLateralOffset(points, pose.position, seg_idx));
if (lat_dist < min_lateral_dist) {
closest_idx = seg_idx;
min_lateral_dist = lat_dist;
}
}

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