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bark-simulator / bark

Open-Source Framework for Development, Simulation and Benchmarking of Behavior Planning Algorithms for Autonomous Driving
https://bark-simulator.github.io/
MIT License
287 stars 69 forks source link

there is something wrong with the function #512

Closed tinmodeHuang closed 3 years ago

tinmodeHuang commented 3 years ago

a snippet in road_corridor.hppas shown below

  LaneCorridorPtr GetCurrentLaneCorridor(const Point2d& pt) const {
    for (const auto& lane_corr : unique_lane_corridors_) {
      if (Collide(pt, lane_corr->GetMergedPolygon())) return lane_corr;
    }
    return nullptr;
  }

Here Collideshould have been replaced with Within, doen't it?

patrickhart commented 3 years ago

Collide also includes the outer line strings, so I think it is okay.