fix(static_obstacle_avoidance): change implementation the logic to re…

…move invalid small shift lines (autowarefoundation#8721) (#1775)

Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
fix(static_obstacle_avoidance): remove invalid small shift lines (autowarefoundation#8344)"

planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp

@@ -812,7 +812,7 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
 
   // fill gap among shift lines.
   for (size_t i = 0; i < sorted.size() - 1; ++i) {
-    if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal) {
+    if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal + 1e-3) {
       continue;
     }
 
@@ -827,8 +827,6 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess(
   utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(
     data, debug.step1_front_shift_line);
 
-  applySmallShiftFilter(ret, 1e-3);
-
   return ret;
 }