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fix(motion_velocity_smoother): fix overwriteStopPoint using backward point #816

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merged 2 commits into from
May 19, 2022
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fix(motion_velocity_smoother): fix overwriteStopPoint using backward point #816

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a5531a5
fix(motion_velocity_smoother): fix overwriteStopPoint using backward …
kosuke55 Apr 26, 2022
28e9c29
Modify overwriteStopPoint input and output
kosuke55 Apr 27, 2022
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6 changes: 3 additions & 3 deletions planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -545,13 +545,13 @@ bool MotionVelocitySmootherNode::smoothVelocity(
RCLCPP_WARN(get_logger(), "Fail to solve optimization.");
}

// Set 0 velocity after input-stop-point
overwriteStopPoint(clipped, traj_smoothed);

traj_smoothed.insert(
traj_smoothed.begin(), traj_resampled->begin(),
traj_resampled->begin() + *traj_resampled_closest);

// Set 0 velocity after input-stop-point
overwriteStopPoint(*traj_resampled, traj_smoothed);

// For the endpoint of the trajectory
if (!traj_smoothed.empty()) {
traj_smoothed.back().longitudinal_velocity_mps = 0.0;
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