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fix(behavior_path_planner): use findSegment for segment search #4963

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Sep 12, 2023
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fix(behavior_path_planner): use findSegment for segment search #4963

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2851,7 +2851,7 @@ BehaviorModuleOutput getReferencePath(
// clip backward length
// NOTE: In order to keep backward_path_length at least, resampling interval is added to the
// backward.
const size_t current_seg_idx = motion_utils::findFirstNearestIndexWithSoftConstraints(
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
reference_path.points, no_shift_pose, p.ego_nearest_dist_threshold,
p.ego_nearest_yaw_threshold);
reference_path.points = motion_utils::cropPoints(
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