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fix(lanelet2_extension): add guard for inner product #256

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merged 7 commits into from
Jan 18, 2022
Merged

fix(lanelet2_extension): add guard for inner product #256

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87b8167
fix: add guard for inner product
kyoichi-sugahara Jan 16, 2022
f743709
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 16, 2022
fc3d252
fix: delete unnecessary comments
kyoichi-sugahara Jan 17, 2022
9b7335e
Update map/lanelet2_extension/lib/query.cpp
kyoichi-sugahara Jan 17, 2022
cea60e0
delete equal in comparison operator
kyoichi-sugahara Jan 17, 2022
1210d05
fix: use normilized radian for calculation of angle difference
kyoichi-sugahara Jan 17, 2022
fcc8f5c
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 17, 2022
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ci(pre-commit): autofix 
Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>
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pre-commit-ci[bot] authored and kyoichi-sugahara committed Jan 17, 2022
commit f743709cfe89664523518ec4d12641da0325caf8
7 changes: 3 additions & 4 deletions map/lanelet2_extension/lib/query.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,11 @@ double getAngleDifference(const double angle1, const double angle2)
vec2 << std::cos(angle2), std::sin(angle2);
double inner_product = vec1.dot(vec2);
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double diff_angle;
if (inner_product <= -1.0)
{
if (inner_product <= -1.0) {
diff_angle = M_PI;
}else if (inner_product >= 1.0){
} else if (inner_product >= 1.0) {
diff_angle = 0.0;
}else{
} else {
diff_angle = std::acos(inner_product);
}
return std::fabs(diff_angle);
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