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fix(drivable_area_expansion): fix invalid access (autowarefoundation#6566)
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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planning/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp

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@@ -1481,6 +1481,10 @@ std::vector<geometry_msgs::msg::Point> postProcess(
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const auto & vehicle_length = planner_data->parameters.vehicle_length;
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constexpr double overlap_threshold = 0.01;
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if (original_bound.size() < 2) {
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return original_bound;
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}
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const auto addPoints =
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[](const lanelet::ConstLineString3d & points, std::vector<geometry_msgs::msg::Point> & bound) {
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for (const auto & bound_p : points) {

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