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feat(avoidance): output debug info
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Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota committed Nov 16, 2023
1 parent 53ddf84 commit 0d8c9cd
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Original file line number Diff line number Diff line change
Expand Up @@ -448,6 +448,7 @@ bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const
const auto to_shift_start_point = calcSignedArcLength(
path_shifter_.getReferencePath().points, idx, registered_lines.front().start_idx);
if (to_shift_start_point < helper_.getMinimumPrepareDistance()) {
RCLCPP_DEBUG(getLogger(), "prevent sudden steering.");
return false;
}
}
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