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fix(planning_errror_monitor): ignore invalid calculation in curvature validation #542

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Mar 25, 2022
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fix(planning_errror_monitor): ignore invalid calculation in curvature validation #542

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6 changes: 6 additions & 0 deletions planning/planning_error_monitor/src/planning_error_monitor_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,6 +251,9 @@ bool PlanningErrorMonitorNode::checkTrajectoryCurvature(
}

constexpr double points_distance = 1.0;
const auto isValidDistance = [points_distance](const auto & p1, const auto & p2) {
return calcDistance2d(p1, p2) >= points_distance;
};

for (size_t p1_id = 0; p1_id < traj.points.size() - 2; ++p1_id) {
// Get Point1
Expand All @@ -268,6 +271,9 @@ bool PlanningErrorMonitorNode::checkTrajectoryCurvature(
if (p1_id == p2_id || p1_id == p3_id || p2_id == p3_id) {
break;
}
if (!isValidDistance(p1, p2) || !isValidDistance(p1, p3) || !isValidDistance(p2, p3)) {
break;
}

const double curvature = calcCurvature(p1, p2, p3);

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