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fix(planning_evaluator): cherry-pick bug fix PRs #2696

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fix(planning_evaluator): cherry-pick bug fix PRs #2696

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4 changes: 2 additions & 2 deletions evaluator/autoware_planning_evaluator/src/obstacle_metrics_calculator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -429,8 +429,8 @@ void ObstacleMetricsCalculator::ProcessObstaclesTrajectory()

// calculate DRAC
const double distance_to_collision = ego_trajectory_point.distance_from_start_m;
const double point_drac = (ego_end_vel * ego_end_vel - ego_start_vel * ego_start_vel) /
(2.0 * distance_to_collision + 1e-6);
const double point_drac =
std::pow(ego_end_vel - ego_start_vel, 2) / (2.0 * distance_to_collision + 1e-6);
obstacle_drac = std::max(obstacle_drac, std::abs(point_drac));
}

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4 changes: 2 additions & 2 deletions evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp
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Expand Up @@ -662,8 +662,8 @@ TEST_F(EvalTest, TestObstacleDRAC)
const double ego_baselink_at_collision = ego_initial_x + ego_velocity * t_collision;
const double ego_travel_distance = ego_baselink_at_collision - ego_initial_x;

const double expected_drac = std::abs(
(obj_velocity * obj_velocity - ego_velocity * ego_velocity) / (2.0 * ego_travel_distance));
const double expected_drac =
std::abs(std::pow(obj_velocity - ego_velocity, 2) / (2.0 * ego_travel_distance));

// Create a moving obstacle (same direction as ego, but slower)
Objects objs;
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