print average curvature

Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Dec 27, 2024 · d99d385 · d99d385
1 parent d603d5f
commit d99d385
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp
@@ -291,8 +291,10 @@ bool get_prepare_segment(
     curvatures.push_back(autoware::universe_utils::calcCurvature(point1, point2, point3));
   }
 
-  return calc_average_curvature(curvatures) <=
-         common_data_ptr->lc_param_ptr->trajectory.th_prepare_curvature;
+  const auto average_curvature = calc_average_curvature(curvatures);
+
+  RCLCPP_DEBUG(get_logger(), "average curvature: %.3f", average_curvature);
+  return average_curvature <= common_data_ptr->lc_param_ptr->trajectory.th_prepare_curvature;
 }
 
 LaneChangePath get_candidate_path(