fix(behavior_path_planner): prevent crashes with the drivable area expansion #917
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maxime-clem
requested review from
rej55,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168,
tkimura4 and
zulfaqar-azmi-t4
as code owners
takayuki5168
approved these changes
Oct 6, 2023
maxime-clem
deleted the
fix/behavior_path_planner-drivable-area-crash-empty-polygons_X2
branch
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Description
This PR add a guards for when the boost::geometry::buffer function returns an empty set of polygons.
Tests performed
Not applicable.
Effects on system behavior
Prevents some crashes of the behavior_path_planner.
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