Skip to content

Commit

Permalink
sp develop remove non approved change (#1611)
Browse files Browse the repository at this point in the history
Revert "feat: improve lanelet search logic in getPredictedReferencePath()"

This reverts commit 5de95b0.
  • Loading branch information
technolojin authored Oct 29, 2024
1 parent 5de95b0 commit 4fb0d67
Showing 1 changed file with 0 additions and 9 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -1550,15 +1550,6 @@ std::vector<PredictedRefPath> MapBasedPredictionNode::getPredictedReferencePath(
if (!unconnected_lanelets.empty()) {
return unconnected_lanelets.front();
}
// search side of the next lanelet
const lanelet::ConstLanelets next_lanelet = routing_graph_ptr_->following(lanelet);
if (!next_lanelet.empty()) {
const auto next = get_left ? routing_graph_ptr_->left(next_lanelet.front())
: routing_graph_ptr_->right(next_lanelet.front());
if (!!next) {
return *next;
}
}
}

// if no candidate lanelet found, return empty
Expand Down

0 comments on commit 4fb0d67

Please sign in to comment.