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planning/autoware_path_optimizer/src/mpt_optimizer.cpp

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@@ -480,7 +480,7 @@ std::optional<std::vector<TrajectoryPoint>> MPTOptimizer::optimizeTrajectory(
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const auto & p = planner_data;
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const auto & traj_points = p.traj_points;
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// 1. calculate reference points
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auto ref_points = calcReferencePoints(planner_data, traj_points);
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if (ref_points.size() < 2) {

planning/autoware_path_optimizer/src/node.cpp

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@@ -391,7 +391,7 @@ std::vector<TrajectoryPoint> PathOptimizer::optimizeTrajectory(const PlannerData
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const double elapsed_time = conditional_timer_->getElapsedTime().count();
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const bool elapsed_time_over_three_seconds = (elapsed_time > 3.0);
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auto optimized_traj_points =
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auto optimized_traj_points =
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optimized_traj_failed && elapsed_time_over_three_seconds ? p.traj_points : std::move(*mpt_traj);
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mrm_required_ = optimized_traj_failed && elapsed_time_over_three_seconds;
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