From 1f98799a709c3fdf4e1c48b66c6c21abd7f39dda Mon Sep 17 00:00:00 2001
From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Date: Tue, 14 Dec 2021 14:21:20 +0900
Subject: [PATCH] fix: fix curve deceleration (#777) (#178)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
---
 .../motion_velocity_smoother/src/smoother/smoother_base.cpp   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp
index adaaa71d68a09..77b2da1d0e80f 100644
--- a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp
+++ b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp
@@ -79,8 +79,8 @@ boost::optional<TrajectoryPoints> SmootherBase::applyLateralAccelerationFilter(
 
   for (size_t i = 0; i < output->size(); ++i) {
     double curvature = 0.0;
-    const size_t start = i > before_decel_index ? i - before_decel_index : 0;
-    const size_t end = std::min(output->size(), i + after_decel_index);
+    const size_t start = i > after_decel_index ? i - after_decel_index : 0;
+    const size_t end = std::min(output->size(), i + before_decel_index);
     for (size_t j = start; j < end; ++j) {
       curvature = std::max(curvature, std::fabs(curvature_v->at(j)));
     }