fix(autoware_behavior_path_planner_common): modify geometric parallel parking path planning #9622
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Signed-off-by: Takumi Ito <[email protected]>
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Description
Modify the weird path generation of geometric parallel parking. The alpha calculation was wrong and must be computed according to forward or backward parking.
Moreover, this PR includes modification of a useless boundary check (check for the opposite side of the shoulder).
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.