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fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity #9036

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Oct 7, 2024
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fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity #9036

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2 changes: 1 addition & 1 deletion ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2162,7 +2162,7 @@
const auto & target_object_types = params->object_types_to_check;

PredictedObjects filtered_objects = utils::path_safety_checker::filterObjectsByVelocity(
*objects, ignore_object_velocity_threshold, false);
*objects, ignore_object_velocity_threshold, true);

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp#L2165 

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utils::path_safety_checker::filterObjectsByClass(filtered_objects, target_object_types);

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2 changes: 1 addition & 1 deletion ...ude/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
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Expand Up @@ -113,7 +113,7 @@ PredictedObjects filterObjects(
*/
PredictedObjects filterObjectsByVelocity(
const PredictedObjects & objects, const double velocity_threshold,
const bool remove_above_threshold = true);
const bool remove_above_threshold = false);

/**
* @brief Helper function to filter objects based on their velocity.
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4 changes: 2 additions & 2 deletions ...autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
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Expand Up @@ -118,7 +118,7 @@
const ObjectTypesToCheck & target_object_types = params->object_types_to_check;

PredictedObjects filtered_objects =
filterObjectsByVelocity(*objects, ignore_object_velocity_threshold, false);
filterObjectsByVelocity(*objects, ignore_object_velocity_threshold, true);

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planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp#L121 

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filterObjectsByClass(filtered_objects, target_object_types);

Expand All @@ -136,7 +136,7 @@
const PredictedObjects & objects, const double velocity_threshold,
const bool remove_above_threshold)
{
if (remove_above_threshold) {
if (!remove_above_threshold) {
return filterObjectsByVelocity(objects, -velocity_threshold, velocity_threshold);
}
return filterObjectsByVelocity(objects, velocity_threshold, std::numeric_limits<double>::max());
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2 changes: 1 addition & 1 deletion ...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
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Expand Up @@ -329,7 +329,7 @@
utils::path_safety_checker::filterObjectsByClass(
dynamic_objects, parameters_->surround_moving_obstacles_type_to_check);
const auto filtered_objects = utils::path_safety_checker::filterObjectsByVelocity(
dynamic_objects, parameters_->th_moving_obstacle_velocity, false);
dynamic_objects, parameters_->th_moving_obstacle_velocity, true);

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planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp#L332 

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if (!filtered_objects.objects.empty()) {
DEBUG_PRINT("Moving objects exist in the safety check area");
}
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