fix(behavior_path_planner_common): added a guard of obstacle polygon …

…points (#5945) * fix(behavior_path_planner_common): added a guard of obstacle polygon points Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 24, 2023 · 83d316c · 83d316c
1 parent 2e2f184
commit 83d316c
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -1085,13 +1085,17 @@ void extractObstaclesFromDrivableArea(
   std::vector<std::vector<PolygonPoint>> right_polygons;
   std::vector<std::vector<PolygonPoint>> left_polygons;
   for (const auto & obstacle : obstacles) {
+    if (obstacle.poly.outer().empty()) {
+      continue;
+    }
+
     const auto & obj_pos = obstacle.pose.position;
 
     // get edge points of the object
     const size_t nearest_path_idx =
       motion_utils::findNearestIndex(path.points, obj_pos);  // to get z for object polygon
     std::vector<Point> edge_points;
-    for (size_t i = 0; i < obstacle.poly.outer().size() - 1;
+    for (int i = 0; i < static_cast<int>(obstacle.poly.outer().size()) - 1;
          ++i) {  // NOTE: There is a duplicated points
       edge_points.push_back(tier4_autoware_utils::createPoint(
         obstacle.poly.outer().at(i).x(), obstacle.poly.outer().at(i).y(),