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fix(pseudo occulusion): fix out of range access #1294

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merged 1 commit into from
May 15, 2024
Merged

fix(pseudo occulusion): fix out of range access #1294

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8 changes: 8 additions & 0 deletions planning/obstacle_cruise_planner/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1181,6 +1181,14 @@
if (id == 0) {
continue;
}

if (!route_handler_->getLaneletMapPtr()->polygonLayer.exists(id)) {
RCLCPP_DEBUG(
rclcpp::get_logger("ObstacleCruisePlanner"),
"Specified Lanelet polygon id [%ld] is not exsit in the map", id);

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continue;
}

const auto intersection_poly =
lanelet::utils::to2D(route_handler_->getLaneletMapPtr()->polygonLayer.get(id))
.basicPolygon();
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