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1 parent 846e412 commit c263222Copy full SHA for c263222
common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
@@ -608,7 +608,7 @@ double calcLateralOffset(
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}
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const auto p_indices = overlap_removed_points.size() - 2;
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- const auto p_front_idx = (p_indices < seg_idx) ? seg_idx : p_indices;
+ const auto p_front_idx = (p_indices > seg_idx) ? seg_idx : p_indices;
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const auto p_back_idx = p_front_idx + 1;
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const auto p_front = tier4_autoware_utils::getPoint(overlap_removed_points.at(p_front_idx));
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