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1 parent 50641ce commit 984e240Copy full SHA for 984e240
planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -1156,6 +1156,9 @@ bool StartPlannerModule::isSafePath() const
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// TODO(Sugahara): should safety check for backward path
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const auto pull_out_path = getCurrentPath();
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+ if (pull_out_path.points.empty()) {
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+ return false;
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+ }
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const auto & current_pose = planner_data_->self_odometry->pose.pose;
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const double current_velocity = std::hypot(
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planner_data_->self_odometry->twist.twist.linear.x,
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