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fix(utils): remove lane chagne specific code #3781

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merged 1 commit into from
May 22, 2023
Merged

fix(utils): remove lane chagne specific code #3781

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24 changes: 4 additions & 20 deletions planning/behavior_path_planner/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1937,7 +1937,7 @@ double getDistanceToCrosswalk(

lanelet::ConstLanelet current_lanelet;
if (!lanelet::utils::query::getClosestLanelet(lanelets, current_pose, &current_lanelet)) {
return std::numeric_limits<double>::max();
return std::numeric_limits<double>::infinity();
}

double distance = 0;
Expand All @@ -1946,24 +1946,8 @@ double getDistanceToCrosswalk(
if (llt == current_lanelet) {
is_after_current_lanelet = true;
}
// check lane change tag
bool is_lane_change_yes = false;
const auto right_line = llt.rightBound();
if (right_line.hasAttribute(lanelet::AttributeNamesString::LaneChange)) {
const auto attr = right_line.attribute(lanelet::AttributeNamesString::LaneChange);
if (attr.value() == std::string("yes")) {
is_lane_change_yes = true;
}
}
const auto left_line = llt.leftBound();
if (left_line.hasAttribute(lanelet::AttributeNamesString::LaneChange)) {
const auto attr = left_line.attribute(lanelet::AttributeNamesString::LaneChange);
if (attr.value() == std::string("yes")) {
is_lane_change_yes = true;
}
}

if (is_after_current_lanelet && !is_lane_change_yes) {
if (is_after_current_lanelet) {
const auto conflicting_crosswalks = overall_graphs.conflictingInGraph(llt, 1);
if (!(conflicting_crosswalks.empty())) {
// create centerline
Expand All @@ -1975,7 +1959,7 @@ double getDistanceToCrosswalk(
}

// create crosswalk polygon and calculate distance
double min_distance_to_crosswalk = std::numeric_limits<double>::max();
double min_distance_to_crosswalk = std::numeric_limits<double>::infinity();
for (const auto & crosswalk : conflicting_crosswalks) {
lanelet::CompoundPolygon2d lanelet_crosswalk_polygon = crosswalk.polygon2d();
Polygon2d polygon;
Expand Down Expand Up @@ -2010,7 +1994,7 @@ double getDistanceToCrosswalk(
distance += lanelet::utils::getLaneletLength3d(llt);
}

return std::numeric_limits<double>::max();
return std::numeric_limits<double>::infinity();
}

double getSignedDistance(
Expand Down