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@@ -15,7 +15,7 @@ func Label() string {
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func Rule(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string {
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for _, obj := range data.Objs {
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- if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 8 {
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+ if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 8 && math.Abs(velocityX) > 0.5 {
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theta := DegreesToRadians(yaw)
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vxrel := (float64(obj.Vxabs)-velocityX)*math.Cos(theta) + (float64(obj.Vyabs)-velocityY)*math.Sin(theta)
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ttc := -((float64(obj.X) - 5.2) / (vxrel + 0.001))
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