From c552c3dedc82f61015a918e505375d0bd04cde6c Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 28 Sep 2023 10:07:19 +0900 Subject: [PATCH] fix(drivable_area_expansion): segment index out of range (#5120) Signed-off-by: Takayuki Murooka --- .../utils/drivable_area_expansion/drivable_area_expansion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index d0673d8bb9ea8..60fb2ba2ff2e8 100644 --- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -60,7 +60,7 @@ std::vector crop_and_resample( // crop const auto crop_seg_idx = motion_utils::findNearestSegmentIndex(points, crop_pose.position); const auto cropped_points = motion_utils::cropPoints( - points, crop_pose.position, crop_seg_idx + 1, + points, crop_pose.position, crop_seg_idx, planner_data->drivable_area_expansion_parameters.max_path_arc_length, 0.0); planner_data->drivable_area_expansion_prev_crop_pose = crop_pose; // resample