fix build error

tier4 · Mar 18, 2021 · d389366 · d389366
1 parent c5f25fe
commit d389366
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/obstacle_stop_planner_refine/include/obstacle_stop_planner/adaptive_cruise_control.hpp b/obstacle_stop_planner_refine/include/obstacle_stop_planner/adaptive_cruise_control.hpp
@@ -29,6 +29,11 @@
 
 namespace obstacle_stop_planner
 {
+using autoware_utils::Point2d;
+using autoware_utils::Point3d;
+using autoware_utils::Polygon2d;
+using autoware_utils::Polygon3d;
+
 class AdaptiveCruiseController
 {
 public:

diff --git a/obstacle_stop_planner_refine/src/adaptive_cruise_control.cpp b/obstacle_stop_planner_refine/src/adaptive_cruise_control.cpp
@@ -298,7 +298,7 @@ std::tuple<bool, double> AdaptiveCruiseController::estimatePointVelocityFromPcl(
  prev_collision_point_valid_ = true;
  return std::forward_as_tuple(false, old_velocity);
  }
- const double p_dist = autoware_utils::calcDistance2d(nearest_collision_point, prev_collision_point_);
+ const double p_dist = boost::geometry::distance(nearest_collision_point, prev_collision_point_);
  const auto p_diff = nearest_collision_point - prev_collision_point_;
  const double p_yaw = std::atan2(p_diff.x(), p_diff.y());
  const double p_vel = p_dist / p_dt;