fix runtime error

Signed-off-by: Takagi, Isamu <[email protected]>
autowarefoundation · Dec 14, 2023 · 6cf1103 · 6cf1103
1 parent e785eba
commit 6cf1103
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Showing 2 changed files with 13 additions and 7 deletions.
diff --git a/...2_map_loader/lanelet2_dummy_projector.hpp → ...2_map_loader/lanelet2_local_projector.hpp b/...2_map_loader/lanelet2_dummy_projector.hpp → ...2_map_loader/lanelet2_local_projector.hpp
@@ -12,21 +12,27 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LANELET2_MAP_LOADER__LANELET2_DUMMY_PROJECTOR_HPP_
-#define LANELET2_MAP_LOADER__LANELET2_DUMMY_PROJECTOR_HPP_
+#ifndef LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_
+#define LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_
 
 #include <lanelet2_io/Projection.h>
 
 namespace lanelet::projection
 {
 
-class DummyProjector : public Projector
+class LocalProjector : public Projector
 {
 public:
-  BasicPoint3d forward(const GPSPoint &) const override { return {}; }  // NOLINT
+  LocalProjector() : Projector(Origin(GPSPoint{})) {}
+
+  BasicPoint3d forward(const GPSPoint & gps) const override  // NOLINT
+  {
+    return BasicPoint3d{0.0, 0.0, gps.ele};
+  }
+
   GPSPoint reverse(const BasicPoint3d &) const override { return {}; }
 };
 
 }  // namespace lanelet::projection
 
-#endif  // LANELET2_MAP_LOADER__LANELET2_DUMMY_PROJECTOR_HPP_
+#endif  // LANELET2_MAP_LOADER__LANELET2_LOCAL_PROJECTOR_HPP_
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -33,7 +33,7 @@
 
 #include "map_loader/lanelet2_map_loader_node.hpp"
 
-#include "lanelet2_dummy_projector.hpp"
+#include "lanelet2_local_projector.hpp"
 
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
@@ -102,7 +102,7 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
       return map;
     }
   } else {
-    const lanelet::projection::DummyProjector projector;
+    const lanelet::projection::LocalProjector projector;
     const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors);
 
     // overwrite local_x, local_y