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fix(sampling_based_planner): fix runtime error (#5490)
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Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota authored Nov 13, 2023
1 parent 8f07678 commit 88b06e0
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Showing 2 changed files with 4 additions and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <bezier_sampler/bezier.hpp>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Geometry>
#include <sampler_common/structures.hpp>

#include <vector>
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5 changes: 3 additions & 2 deletions planning/sampling_based_planner/path_sampler/src/node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -298,7 +298,8 @@ PlannerData PathSampler::createPlannerData(const Path & path) const
return planner_data;
}

void copyZ(const std::vector<TrajectoryPoint> & from_traj, std::vector<TrajectoryPoint> & to_traj)
void PathSampler::copyZ(
const std::vector<TrajectoryPoint> & from_traj, std::vector<TrajectoryPoint> & to_traj)
{
if (from_traj.empty() || to_traj.empty()) return;
to_traj.front().pose.position.z = from_traj.front().pose.position.z;
Expand All @@ -320,7 +321,7 @@ void copyZ(const std::vector<TrajectoryPoint> & from_traj, std::vector<Trajector
to_traj.back().pose.position.z = from->pose.position.z;
}

void copyVelocity(
void PathSampler::copyVelocity(
const std::vector<TrajectoryPoint> & from_traj, std::vector<TrajectoryPoint> & to_traj,
const geometry_msgs::msg::Pose & ego_pose)
{
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