RT1-8004 fix conflict

Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Oct 4, 2024 · 67114cc · 67114cc
1 parent 9e59029
commit 67114cc
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
@@ -157,8 +157,7 @@ class NormalLaneChange : public LaneChangeBase
     const Pose & lc_start_pose, const double shift_length) const;
 
   bool check_candidate_path_safety(
-    const LaneChangePath & candidate_path, const lane_change::TargetObjects & target_objects,
-    const bool is_stuck) const;
+    const LaneChangePath & candidate_path, const lane_change::TargetObjects & target_objects) const;
 
   std::optional<LaneChangePath> calcTerminalLaneChangePath(
     const lanelet::ConstLanelets & current_lanes,

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -1404,7 +1404,6 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths)
   const auto & current_lanes = get_current_lanes();
   const auto & target_lanes = get_target_lanes();
 
-  const auto is_stuck = isVehicleStuck(current_lanes);
   const auto current_velocity = getEgoVelocity();
   const auto sorted_lane_ids = utils::lane_change::get_sorted_lane_ids(common_data_ptr_);
   const auto target_objects = getTargetObjects(filtered_objects_, current_lanes);
@@ -1491,7 +1490,7 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths)
       candidate_paths.push_back(candidate_path);
 
       try {
-        if (check_candidate_path_safety(candidate_path, target_objects, is_stuck)) {
+        if (check_candidate_path_safety(candidate_path, target_objects)) {
           debug_print_lat("ACCEPT!!!: it is valid and safe!");
           return true;
         }
@@ -1555,9 +1554,9 @@ LaneChangePath NormalLaneChange::get_candidate_path(
 }
 
 bool NormalLaneChange::check_candidate_path_safety(
-  const LaneChangePath & candidate_path, const lane_change::TargetObjects & target_objects,
-  const bool is_stuck) const
+  const LaneChangePath & candidate_path, const lane_change::TargetObjects & target_objects) const
 {
+  const auto is_stuck = common_data_ptr_->transient_data.is_ego_stuck;
   if (
     !is_stuck && !utils::lane_change::passed_parked_objects(
                    common_data_ptr_, candidate_path, filtered_objects_.target_lane_leading,