From 93867c5d4c297fcc49dbc82834e96ccf7381735f Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 22 Oct 2024 08:26:45 +0900 Subject: [PATCH] fix(utils): fix envelope polygon update logic (#9123) Signed-off-by: satoshi-ota --- .../src/utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index adea18c726ced..079682502fa2c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -1486,7 +1486,7 @@ void fillObjectEnvelopePolygon( calcErrorEclipseLongRadius(object_data.object.kinematics.initial_pose_with_covariance); if (error_eclipse_long_radius > object_parameter.th_error_eclipse_long_radius) { - if (error_eclipse_long_radius < object_data.error_eclipse_max) { + if (error_eclipse_long_radius < same_id_obj->error_eclipse_max) { object_data.error_eclipse_max = error_eclipse_long_radius; object_data.envelope_poly = one_shot_envelope_poly; return;