fix(mpc_lateral_controller): remove overlaps when calculating trajectory

Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Mar 4, 2024 · feaf4b8 · feaf4b8
1 parent ebb4172
commit feaf4b8
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/mpc_lateral_controller/src/mpc_utils.cpp
@@ -289,6 +289,7 @@ Trajectory convertToAutowareTrajectory(const MPCTrajectory & input)
       break;
     }
   }
+  output.points = motion_utils::removeOverlapPoints(output.points);
   return output;
 }