fail

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp

@@ -110,7 +110,8 @@ class MPTOptimizer
     const TrajectoryParam & traj_param, const std::shared_ptr<DebugData> debug_data_ptr,
     const std::shared_ptr<autoware_utils::TimeKeeper> time_keeper_);
 
-  std::vector<TrajectoryPoint> optimizeTrajectory(const PlannerData & planner_data);
+  std::vector<TrajectoryPoint> optimizeTrajectory(
+    const PlannerData & planner_data, const bool empty);
   std::optional<std::vector<TrajectoryPoint>> getPrevOptimizedTrajectoryPoints() const;
 
   void initialize(const bool enable_debug_info, const TrajectoryParam & traj_param);

planning/autoware_path_optimizer/src/mpt_optimizer.cpp

@@ -472,7 +472,8 @@ void MPTOptimizer::onParam(const std::vector<rclcpp::Parameter> & parameters)
   debug_data_ptr_->mpt_visualize_sampling_num = mpt_param_.mpt_visualize_sampling_num;
 }
 
-std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(const PlannerData & planner_data)
+std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(
+  const PlannerData & planner_data, [[maybe_unused]] const bool empty)
 {
   autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 

planning/autoware_path_optimizer/src/node.cpp

@@ -363,7 +363,7 @@ std::vector<TrajectoryPoint> PathOptimizer::optimizeTrajectory(const PlannerData
 
   // 2. make trajectory kinematically-feasible and collision-free (= inside the drivable area)
   //    with model predictive trajectory
-  const auto mpt_traj = mpt_optimizer_ptr_->optimizeTrajectory(planner_data);
+  const auto mpt_traj = mpt_optimizer_ptr_->optimizeTrajectory(planner_data, false);
 
   return mpt_traj;
 }