fix(motion_velocity_planner_common): fix the calc_possible_min_dist_f…

…rom_obj_to_traj_poly calculation (#10059) * fix(motion_velocity_planner_common): fix the calc_possible_min_dist_from_obj_to_traj_poly calculation Signed-off-by: Takayuki Murooka <[email protected]> * update maintainer Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Feb 7, 2025 · 8ae14aa · 8ae14aa
1 parent 08b007c
commit 8ae14aa
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diff --git a/...ning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml b/...ning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml
@@ -7,6 +7,8 @@
 
   <maintainer email="[email protected]">Maxime Clement</maintainer>
   <maintainer email="[email protected]">Alqudah Mohammad</maintainer>
+  <maintainer email="[email protected]">Takayuki Murooka</maintainer>
+  <maintainer email="[email protected]">Yuki Takagi</maintainer>
 
   <license>Apache License 2.0</license>
 

diff --git a/...ng/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp b/...ng/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp
@@ -169,7 +169,7 @@ double calc_possible_min_dist_from_obj_to_traj_poly(
   const double object_possible_max_dist =
     calc_object_possible_max_dist_from_center(object->predicted_object.shape);
   const double possible_min_dist_to_traj_poly =
-    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m -
+    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m / 2.0 -
     object_possible_max_dist;
   return possible_min_dist_to_traj_poly;
 }