fix(behavior_path_planner): fix reservation of predicted path (autowa…

…refoundation#474) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
satoshi-ota · May 20, 2022 · 4096fe4 · 4096fe4
1 parent 70e8487
commit 4096fe4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
@@ -175,7 +175,7 @@ PredictedPath convertToPredictedPath(
 {
   PredictedPath predicted_path{};
   predicted_path.time_step = rclcpp::Duration::from_seconds(resolution);
-  predicted_path.path.reserve(path.points.size());
+  predicted_path.path.reserve(std::min(path.points.size(), static_cast<size_t>(100)));
   if (path.points.empty()) {
     return predicted_path;
   }