feat(motion_utils): use setLongitudinalVelocity in insertStopPoint for PathPointWithLaneId (autowarefoundation#2206)

kosuke55 · HansRobo · commit c468cc5f8fb1 · 2022-12-16T21:12:28.000+09:00
Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;

Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;
Signed-off-by: Kotaro Yoshimoto &lt;pythagora.yoshimoto@gmail.com&gt;
diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
@@ -1066,7 +1066,7 @@ inline boost::optional<size_t> insertStopPoint(
   }
 
   for (size_t i = *stop_idx; i < points_with_twist.size(); ++i) {
-    points_with_twist.at(i).longitudinal_velocity_mps = 0.0;
+    tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
   }
 
   return stop_idx;
@@ -1099,7 +1099,7 @@ inline boost::optional<size_t> insertStopPoint(
   }
 
   for (size_t i = *stop_idx; i < points_with_twist.size(); ++i) {
-    points_with_twist.at(i).longitudinal_velocity_mps = 0.0;
+    tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
   }
 
   return stop_idx;

Original file line number	Diff line number	Diff line change
`@@ -1066,7 +1066,7 @@ inline boost::optional<size_t> insertStopPoint(`
`1066`	`1066`	`}`
`1067`	`1067`
`1068`	`1068`	`for (size_t i = *stop_idx; i < points_with_twist.size(); ++i) {`
`1069`		`- points_with_twist.at(i).longitudinal_velocity_mps = 0.0;`
	`1069`	`+ tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));`
`1070`	`1070`	`}`
`1071`	`1071`
`1072`	`1072`	`return stop_idx;`
`@@ -1099,7 +1099,7 @@ inline boost::optional<size_t> insertStopPoint(`
`1099`	`1099`	`}`
`1100`	`1100`
`1101`	`1101`	`for (size_t i = *stop_idx; i < points_with_twist.size(); ++i) {`
`1102`		`- points_with_twist.at(i).longitudinal_velocity_mps = 0.0;`
	`1102`	`+ tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));`
`1103`	`1103`	`}`
`1104`	`1104`
`1105`	`1105`	`return stop_idx;`