fix(map_based_prediction): limit the size of predicted path (#5761)

mitsudome-r · pre-commit-ci[bot] · web-flow · commit 1e7350e1784b · 2023-12-04T09:24:36.000Z
* fix(map_based_prediction): limit the size of predicted path

Signed-off-by: Ryohsuke Mitsudome &lt;ryohsuke.mitsudome@tier4.jp&gt;

* style(pre-commit): autofix

---------

Signed-off-by: Ryohsuke Mitsudome &lt;ryohsuke.mitsudome@tier4.jp&gt;
Co-authored-by: pre-commit-ci[bot] &lt;66853113+pre-commit-ci[bot]@users.noreply.github.com&gt;
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -995,6 +995,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
 
         for (auto & predicted_path : predicted_paths) {
           predicted_path.confidence = predicted_path.confidence / sum_confidence;
+          if (predicted_object.kinematics.predicted_paths.size() >= 100) break;
           predicted_object.kinematics.predicted_paths.push_back(predicted_path);
         }
         output.objects.push_back(predicted_object);

Original file line number	Diff line number	Diff line change
`@@ -995,6 +995,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt`
`995`	`995`
`996`	`996`	`for (auto & predicted_path : predicted_paths) {`
`997`	`997`	`predicted_path.confidence = predicted_path.confidence / sum_confidence;`
	`998`	`+ if (predicted_object.kinematics.predicted_paths.size() >= 100) break;`
`998`	`999`	`predicted_object.kinematics.predicted_paths.push_back(predicted_path);`
`999`	`1000`	`}`
`1000`	`1001`	`output.objects.push_back(predicted_object);`