change motion_utils::overlap_threshold to 0.2 and use it

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Dec 13, 2022 · edfb2d5 · edfb2d5
1 parent a827911
commit edfb2d5
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/common/motion_utils/include/motion_utils/constants.hpp b/common/motion_utils/include/motion_utils/constants.hpp
@@ -17,7 +17,7 @@
 
 namespace motion_utils
 {
-constexpr double overlap_threshold = 0.1;
+constexpr double overlap_threshold = 0.2;
 }  // namespace motion_utils
 
 #endif  // MOTION_UTILS__CONSTANTS_HPP_
diff --git a/planning/behavior_path_planner/src/path_utilities.cpp b/planning/behavior_path_planner/src/path_utilities.cpp
@@ -67,10 +67,11 @@ PathWithLaneId resamplePathWithSpline(
     transformed_path.at(i) = path.points.at(i).point;
   }
 
-  constexpr double epsilon = 0.2;
   const auto has_almost_same_value = [&](const auto & vec, const auto x) {
     if (vec.empty()) return false;
-    const auto has_close = [&](const auto v) { return std::abs(v - x) < epsilon; };
+    const auto has_close = [&](const auto v) {
+      return std::abs(v - x) < motion_utils::overlap_threshold;
+    };
     return std::find_if(vec.begin(), vec.end(), has_close) != vec.end();
   };