Merge pull request #1498 from tier4/fix/canonicalize_function

Fix/canonicalize function
tier4 · Dec 24, 2024 · e8bd614 · e8bd614
2 parents 5a45ec9 + a0a075b
commit e8bd614
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Showing 2 changed files with 7 additions and 1 deletion.
diff --git a/simulation/traffic_simulator/src/utils/pose.cpp b/simulation/traffic_simulator/src/utils/pose.cpp
@@ -52,7 +52,11 @@ auto canonicalize(
   if (lanelet_pose == LaneletPose()) {
     return std::nullopt;
   } else {
-    return CanonicalizedLaneletPose(lanelet_pose, hdmap_utils_ptr);
+    try {
+      return CanonicalizedLaneletPose(lanelet_pose, hdmap_utils_ptr);
+    } catch (const common::SemanticError &) {
+      return std::nullopt;
+    }
   }
 }
 

diff --git a/simulation/traffic_simulator/test/src/utils/test_pose.cpp b/simulation/traffic_simulator/test/src/utils/test_pose.cpp
@@ -93,6 +93,8 @@ TEST_F(PoseTest, canonicalize_invalid)
     traffic_simulator::pose::canonicalize(
       traffic_simulator::pose::quietNaNLaneletPose(), hdmap_utils),
     std::runtime_error);
+  EXPECT_FALSE(traffic_simulator::pose::canonicalize(
+    traffic_simulator::helper::constructLaneletPose(203, 1000.0, 0.0), hdmap_utils));
 }
 
 /**