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fix(start_planner): fix build #796

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merged 1 commit into from
Sep 4, 2023
Merged

fix(start_planner): fix build #796

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -183,7 +183,7 @@ bool StartPlannerModuleManager::isSimultaneousExecutableAsApprovedModule() const
}

// Other modules are not needed when freespace planning
if (start_planner_ptr->isFreespacePlanning()) {
if (module->isFreespacePlanning()) {
return false;
}

Expand All @@ -202,7 +202,7 @@ bool StartPlannerModuleManager::isSimultaneousExecutableAsCandidateModule() cons
}

// Other modules are not needed when freespace planning
if (start_planner_ptr->isFreespacePlanning()) {
if (module->isFreespacePlanning()) {
return false;
}

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5 changes: 2 additions & 3 deletions planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1026,9 +1026,8 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
output.drivable_area_info.drivable_margin =
planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin;
} else {
const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes(
*output.path, generateDrivableLanes(*output.path),
planner_data_->drivable_area_expansion_parameters);
const auto target_drivable_lanes =
getNonOverlappingExpandedLanes(*output.path, generateDrivableLanes(*output.path));

DrivableAreaInfo current_drivable_area_info;
current_drivable_area_info.drivable_lanes = target_drivable_lanes;
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