fix(avoidance): unintentional path cut (autowarefoundation#5887)

* fix(avoidance): unintentional path cut Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp_common): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp_side_shift): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp_avoidance): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp_lane_change): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp_goal_planner): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bpp_start_planner): nouse pointer Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Dec 18, 2023 · 4f26a02 · 4f26a02
1 parent 6be72d6
commit 4f26a02
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp
@@ -119,10 +119,10 @@ struct BehaviorModuleOutput
   BehaviorModuleOutput() = default;
 
   // path planed by module
-  PlanResult path{};
+  PathWithLaneId path{};
 
   // reference path planed by module
-  PlanResult reference_path{};
+  PathWithLaneId reference_path{};
 
   TurnSignalInfo turn_signal_info{};
 

diff --git a/..._planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp b/..._planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -405,7 +405,7 @@ class SceneModuleInterface
   virtual BehaviorModuleOutput planWaitingApproval()
   {
     path_candidate_ = std::make_shared<PathWithLaneId>(planCandidate().path_candidate);
-    path_reference_ = getPreviousModuleOutput().reference_path;
+    path_reference_ = std::make_shared<PathWithLaneId>(getPreviousModuleOutput().reference_path);
 
     return getPreviousModuleOutput();
   }

diff --git a/planning/behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner_common/src/utils/path_utils.cpp
@@ -642,8 +642,8 @@ BehaviorModuleOutput getReferencePath(
     dp.drivable_area_types_to_skip);
 
   BehaviorModuleOutput output;
-  output.path = std::make_shared<PathWithLaneId>(reference_path);
-  output.reference_path = std::make_shared<PathWithLaneId>(reference_path);
+  output.path = reference_path;
+  output.reference_path = reference_path;
   output.drivable_area_info.drivable_lanes = drivable_lanes;
 
   return output;
@@ -692,8 +692,8 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr<const PlannerDat
     point.point.longitudinal_velocity_mps = 0.0;
   }
 
-  output.path = std::make_shared<PathWithLaneId>(reference_path);
-  output.reference_path = std::make_shared<PathWithLaneId>(reference_path);
+  output.path = reference_path;
+  output.reference_path = reference_path;
   output.drivable_area_info.drivable_lanes = drivable_lanes;
 
   return output;