From d6985bfd832f2c0ef746ae627933b363475c69f0 Mon Sep 17 00:00:00 2001
From: Kepa cantero <Kepa.CA.Cantero@partner.bmw.de>
Date: Fri, 17 Jun 2022 00:59:15 -0700
Subject: [PATCH] Added allow lateral change to path control unit when routing
---
MantleAPI/include/MantleAPI/Traffic/control_strategy.h | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/MantleAPI/include/MantleAPI/Traffic/control_strategy.h b/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
index f3f774a..f4cf6a7 100644
--- a/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
+++ b/MantleAPI/include/MantleAPI/Traffic/control_strategy.h
@@ -142,8 +142,9 @@ struct FollowRouteControlStrategy : public ControlStrategy
{
movement_domain = MovementDomain::kLateral;
type = ControlStrategyType::kFollowRoute;
- }
+ }
+ bool allow_lateral_change {true};
std::vector<mantle_api::Vec3<units::length::meter_t>> waypoints;
};
--
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