fix(behavior_path_planner): catch exception when calculating curvature #6431
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6431 +/- ##
=======================================
Coverage 14.99% 14.99%
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Files 1839 1839
Lines 127158 127163 +5
Branches 38099 38103 +4
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+ Hits 19070 19071 +1
- Misses 86755 86759 +4
Partials 21333 21333
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autowarefoundation#6431) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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#6431) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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autowarefoundation#6431) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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autowarefoundation#6431) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
The
behavior_path_plannermay crash if some points in the map are too close to eachother or form a too sharp angle.This PR prevents crashes by handling the exception that may occur when calculating curvatures of the path.
Tests performed
Psim
Effects on system behavior
No crash on bad maps
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