fixup! feat(avoidance): suppress unnecessary avoidance path

autowarefoundation · Nov 18, 2023 · 94b6aff · 94b6aff
1 parent 2d476e8
commit 94b6aff
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -553,7 +553,7 @@ bool isSatisfiedWithCommonCondition(
   return true;
 }
 
-bool isSatisfiedWithNonVehicleCodition(
+bool isSatisfiedWithNonVehicleCondition(
   ObjectData & object, [[maybe_unused]] const AvoidancePlanningData & data,
   const std::shared_ptr<const PlannerData> & planner_data,
   [[maybe_unused]] const std::shared_ptr<AvoidanceParameters> & parameters)
@@ -567,7 +567,7 @@ bool isSatisfiedWithNonVehicleCodition(
   return true;
 }
 
-bool isSatisfiedWithVehicleCodition(
+bool isSatisfiedWithVehicleCondition(
   ObjectData & object, const AvoidancePlanningData & data,
   const std::shared_ptr<const PlannerData> & planner_data,
   const std::shared_ptr<AvoidanceParameters> & parameters)
@@ -1406,12 +1406,12 @@ void filterTargetObjects(
     }
 
     if (filtering_utils::isVehicleTypeObject(o)) {
-      if (filtering_utils::isSatisfiedWithVehicleCodition(o, data, planner_data, parameters)) {
+      if (!filtering_utils::isSatisfiedWithVehicleCondition(o, data, planner_data, parameters)) {
         data.other_objects.push_back(o);
         continue;
       }
     } else {
-      if (filtering_utils::isSatisfiedWithNonVehicleCodition(o, data, planner_data, parameters)) {
+      if (!filtering_utils::isSatisfiedWithNonVehicleCondition(o, data, planner_data, parameters)) {
         data.other_objects.push_back(o);
         continue;
       }