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fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning #7675

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merged 3 commits into from
Jun 25, 2024
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fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning #7675

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506aad3
fix(autoware_behavior_path_planner_common): fix containerOutOfBounds …
veqcc Jun 25, 2024
6d90205
Merge branch 'main' into fix_container_out_of_bounds2
veqcc Jun 25, 2024
d819400
fix type
veqcc Jun 25, 2024
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9 changes: 5 additions & 4 deletions ...ning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -471,14 +471,15 @@ std::vector<Pose> interpolatePose(
{
std::vector<Pose> interpolated_poses{}; // output

const std::vector<double> base_s{
0, autoware::universe_utils::calcDistance2d(start_pose.position, end_pose.position)};
const double distance =
autoware::universe_utils::calcDistance2d(start_pose.position, end_pose.position);
const std::vector<double> base_s{0.0, distance};
const std::vector<double> base_x{start_pose.position.x, end_pose.position.x};
const std::vector<double> base_y{start_pose.position.y, end_pose.position.y};
std::vector<double> new_s;

constexpr double eps = 0.3; // prevent overlapping
for (double s = eps; s < base_s.back() - eps; s += resample_interval) {
for (double s = eps; s < distance - eps; s += resample_interval) {
new_s.push_back(s);
}

Expand All @@ -491,7 +492,7 @@ std::vector<Pose> interpolatePose(
for (size_t i = 0; i < interpolated_x.size(); ++i) {
Pose pose{};
pose = autoware::universe_utils::calcInterpolatedPose(
end_pose, start_pose, (base_s.back() - new_s.at(i)) / base_s.back());
end_pose, start_pose, (distance - new_s.at(i)) / distance);
pose.position.x = interpolated_x.at(i);
pose.position.y = interpolated_y.at(i);
pose.position.z = end_pose.position.z;
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