fix(avoidance): don't use polygon centroid in shiftable ratio calculation (#6285) #1127
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…tion (autowarefoundation#6285) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
satoshi-ota
requested review from
rej55,
kyoichi-sugahara,
shmpwk,
TakaHoribe,
TomohitoAndo and
tkimura4
as code owners
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