From 2936bfd0539c7a6fbdd555020788cfc6d331f7e7 Mon Sep 17 00:00:00 2001
From: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date: Fri, 1 Nov 2024 02:29:22 +0900
Subject: [PATCH] fix(planning_validator): remove syntax error in
 check_collision function parameters

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../include/autoware/planning_validator/utils.hpp            | 2 +-
 .../autoware_planning_validator/src/planning_validator.cpp   | 5 +++--
 planning/autoware_planning_validator/src/utils.cpp           | 2 +-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp b/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp
index 864405c127a55..0d3e3bff7add3 100644
--- a/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp
+++ b/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp
@@ -76,7 +76,7 @@ std::pair<double, size_t> calcMaxSteeringRates(
 std::optional<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>> check_collision(
   const PredictedObjects & predicted_objects, const Trajectory & trajectory,
   const geometry_msgs::msg::Point & current_ego_position, const VehicleInfo & vehicle_info,
-  const double trajectory_to_object_distance_threshold, ,
+  const double trajectory_to_object_distance_threshold,
   const double ego_to_object_distance_threshold, const double time_tolerance_threshold);
 
 Rtree make_ego_footprint_rtree(
diff --git a/planning/autoware_planning_validator/src/planning_validator.cpp b/planning/autoware_planning_validator/src/planning_validator.cpp
index e015689d9299c..0b9b028ced4ea 100644
--- a/planning/autoware_planning_validator/src/planning_validator.cpp
+++ b/planning/autoware_planning_validator/src/planning_validator.cpp
@@ -562,8 +562,9 @@ bool PlanningValidator::checkValidTrajectoryCollision(const Trajectory & traject
 
   const auto & collided_points = check_collision(
     *current_objects_, trajectory, current_kinematics_->pose.pose.position, vehicle_info_,
-    validator_params_.trajectory_to_object_distance_threshold,
-    validator_params_.ego_to_object_distance_threshold, validator_params_.time_tolerance_threshold);
+    validation_params_.trajectory_to_object_distance_threshold,
+    validation_params_.ego_to_object_distance_threshold,
+    validation_params_.time_tolerance_threshold);
 
   if (collided_points) {
     for (const auto & p : *collided_points) {
diff --git a/planning/autoware_planning_validator/src/utils.cpp b/planning/autoware_planning_validator/src/utils.cpp
index 25c6f0d9d66ab..b12d104ed29d9 100644
--- a/planning/autoware_planning_validator/src/utils.cpp
+++ b/planning/autoware_planning_validator/src/utils.cpp
@@ -296,7 +296,7 @@ std::pair<double, size_t> calcMaxSteeringRates(
 std::optional<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>> check_collision(
   const PredictedObjects & predicted_objects, const Trajectory & trajectory,
   const geometry_msgs::msg::Point & current_ego_position, const VehicleInfo & vehicle_info,
-  const double trajectory_to_object_distance_threshold, ,
+  const double trajectory_to_object_distance_threshold,
   const double ego_to_object_distance_threshold, const double time_tolerance_threshold)
 {
   std::vector<autoware_planning_msgs::msg::TrajectoryPoint> filtered_trajectory;