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Fixes bug at ToRoadPosition query. #174

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merged 4 commits into from
Sep 14, 2021
Merged

Fixes bug at ToRoadPosition query. #174

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6df03e4
Fixes bug at ToLanePosition query.
francocipollone Sep 14, 2021
9a26d51
Revert "Fixes bug at ToLanePosition query."
francocipollone Sep 14, 2021
26f8b7c
Fixes ToRoadPosition query.
francocipollone Sep 14, 2021
c26fbf5
nit
francocipollone Sep 14, 2021
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18 changes: 13 additions & 5 deletions maliput_malidrive/src/maliput_malidrive/base/road_geometry.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -24,11 +24,19 @@ namespace {
bool IsNewRoadPositionResultCloser(const maliput::api::RoadPositionResult& new_road_position_result,
const maliput::api::RoadPositionResult& road_position_result) {
const double delta = new_road_position_result.distance - road_position_result.distance;
if (delta > malidrive::constants::kStrictLinearTolerance) {
return false;
}
if (delta < -malidrive::constants::kStrictLinearTolerance) {
return true;
const bool different_segment = road_position_result.road_position.lane->segment()->id() !=
new_road_position_result.road_position.lane->segment()->id();

// When lanes belong to the same segment is expected that the distance value is almost equal so we can't use the
// distance as main condition. When lanes doesn't belong to the same segment we can use the distance as main
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// condition.
if (different_segment) {
if (delta < -malidrive::constants::kStrictLinearTolerance) {
return true;
}
if (delta >= malidrive::constants::kStrictLinearTolerance) {
return false;
}
}

auto is_within_lane_bounds = [](double r, const maliput::api::RBounds& lane_bounds) {
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