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fix(motion_utils): check size after overlap points removal #6653

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merged 3 commits into from
Mar 22, 2024
Merged

fix(motion_utils): check size after overlap points removal #6653

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115a4ee
fix(motion_utils): check size after overlap points removal
zulfaqar-azmi-t4 Mar 19, 2024
6a730ee
change implementation to not return warning
zulfaqar-azmi-t4 Mar 19, 2024
2fdbde0
fix comparison sign
zulfaqar-azmi-t4 Mar 19, 2024
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8 changes: 6 additions & 2 deletions common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -607,8 +607,12 @@ double calcLateralOffset(
return std::nan("");
}

const auto p_front = tier4_autoware_utils::getPoint(overlap_removed_points.at(seg_idx));
const auto p_back = tier4_autoware_utils::getPoint(overlap_removed_points.at(seg_idx + 1));
const auto p_indices = overlap_removed_points.size() - 2;
const auto p_front_idx = (p_indices > seg_idx) ? seg_idx : p_indices;
const auto p_back_idx = p_front_idx + 1;

const auto p_front = tier4_autoware_utils::getPoint(overlap_removed_points.at(p_front_idx));
const auto p_back = tier4_autoware_utils::getPoint(overlap_removed_points.at(p_back_idx));

const Eigen::Vector3d segment_vec{p_back.x - p_front.x, p_back.y - p_front.y, 0.0};
const Eigen::Vector3d target_vec{p_target.x - p_front.x, p_target.y - p_front.y, 0.0};
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