fix(obstacle_stop): add vector size guard (autowarefoundation#6254)

* add guard Signed-off-by: Yuki Takagi <[email protected]>
Interplai · Jun 3, 2024 · 1c2bba9 · 1c2bba9
1 parent 0b2439c
commit 1c2bba9
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
@@ -1548,6 +1548,8 @@ void ObstacleStopPlannerNode::filterObstacles(
   const PredictedObjects & input_objects, const Pose & ego_pose, const TrajectoryPoints & traj,
   const double dist_threshold, PredictedObjects & filtered_objects)
 {
+  if (traj.size() < 2) return;
+
   filtered_objects.header = input_objects.header;
 
   for (auto & object : input_objects.objects) {