fix(behavior_path_planner): minimum distance for lane change (autowar…

…efoundation#2413) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
zulfaqar-azmi-t4 · Dec 13, 2022 · 8c79336 · 8c79336
1 parent cdbbfc6
commit 8c79336
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
@@ -394,6 +394,10 @@ bool isSafeInFreeSpaceCollisionCheck(
 
 double calcTotalLaneChangeDistanceWithBuffer(const BehaviorPathPlannerParameters & common_param);
 
+bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_threshold);
+
+double calcTotalLaneChangeDistanceWithBuffer(const BehaviorPathPlannerParameters & common_param);
+
 double calcLaneChangeBuffer(
   const BehaviorPathPlannerParameters & common_param, const int num_lane_change,
   const double length_to_intersection);