From 9530c8a62792d7f4871cf6ed4d8b340c1f30aaaf Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Sat, 17 Feb 2024 19:42:21 +0900
Subject: [PATCH] fix(goal_planner): fix updateCollisionCheckDebugMap timing in
 checkSafetyWithIntegralPredictedPolygon (#6413)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../src/utils/path_safety_checker/safety_check.cpp              | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
index 7b94066b74db3..e15a3c164bef1 100644
--- a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
+++ b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
@@ -543,9 +543,9 @@ bool checkSafetyWithIntegralPredictedPolygon(
           updateCollisionCheckDebugMap(debug_map, debug_pair, /*is_safe=*/false);
           return false;
         }
-        updateCollisionCheckDebugMap(debug_map, debug_pair, /*is_safe=*/true);
       }
     }
+    updateCollisionCheckDebugMap(debug_map, debug_pair, /*is_safe=*/true);
   }
   return true;
 }