fix(obstacle_stop): add vector size guard (#6254)

yuki-takagi-66 · web-flow · commit 55c52af5a4cc · 2024-02-01T12:30:52.000+09:00
* add guard

Signed-off-by: Yuki Takagi &lt;yuki.takagi@tier4.jp&gt;
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
@@ -1548,6 +1548,8 @@ void ObstacleStopPlannerNode::filterObstacles(
   const PredictedObjects & input_objects, const Pose & ego_pose, const TrajectoryPoints & traj,
   const double dist_threshold, PredictedObjects & filtered_objects)
 {
+  if (traj.size() < 2) return;
+
   filtered_objects.header = input_objects.header;
 
   for (auto & object : input_objects.objects) {

Original file line number	Diff line number	Diff line change
`@@ -1548,6 +1548,8 @@ void ObstacleStopPlannerNode::filterObstacles(`
`1548`	`1548`	`const PredictedObjects & input_objects, const Pose & ego_pose, const TrajectoryPoints & traj,`
`1549`	`1549`	`const double dist_threshold, PredictedObjects & filtered_objects)`
`1550`	`1550`	`{`
	`1551`	`+ if (traj.size() < 2) return;`
	`1552`	`+`
`1551`	`1553`	`filtered_objects.header = input_objects.header;`
`1552`	`1554`
`1553`	`1555`	`for (auto & object : input_objects.objects) {`