fix(behavior_path_planner_common): swap boolean for filterObjectsByVe…

…locity (autowarefoundation#9036) fix filter object by velocity Signed-off-by: Go Sakayori <[email protected]> Signed-off-by: prakash-kannaiah <[email protected]>
prakash-kannaiah · Oct 9, 2024 · 5d4b6ac · 5d4b6ac
1 parent 5fe7b5e
commit 5d4b6ac
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -2162,7 +2162,7 @@ static std::vector<utils::path_safety_checker::ExtendedPredictedObject> filterOb
   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);
 
   utils::path_safety_checker::filterObjectsByClass(filtered_objects, target_object_types);
 

diff --git a/...ude/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/...ude/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
@@ -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.

diff --git a/...autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/...autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
@@ -118,7 +118,7 @@ PredictedObjects filterObjects(
   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);
 
   filterObjectsByClass(filtered_objects, target_object_types);
 
@@ -136,7 +136,7 @@ PredictedObjects filterObjectsByVelocity(
   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());

diff --git a/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -329,7 +329,7 @@ bool StartPlannerModule::noMovingObjectsAround() const
   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);
   if (!filtered_objects.objects.empty()) {
     DEBUG_PRINT("Moving objects exist in the safety check area");
   }