From 90464c8918246d4d2900ae2396994226bcbff155 Mon Sep 17 00:00:00 2001 From: keisuke <31088744+keiota@users.noreply.github.com> Date: Sun, 3 Sep 2023 23:23:15 +0900 Subject: [PATCH] fix(control_validator): resolve the bug causing inappropriate diagnostic messages. (#4846) * fix(control_validator): fix reverseTrajectoryPoints to get correct trajectory array Signed-off-by: keiota * fix(control_validator): fix line breaks Signed-off-by: keiota * style(pre-commit): autofix * Update control/control_validator/src/utils.cpp --------- Signed-off-by: keiota Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara --- control/control_validator/src/utils.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/control/control_validator/src/utils.cpp b/control/control_validator/src/utils.cpp index 2aade12d5f1cf..1b11d1e55c376 100644 --- a/control/control_validator/src/utils.cpp +++ b/control/control_validator/src/utils.cpp @@ -44,7 +44,8 @@ void insertPointInPredictedTrajectory( TrajectoryPoints reverseTrajectoryPoints(const TrajectoryPoints & trajectory_points) { - TrajectoryPoints reversed_trajectory_points(trajectory_points.size()); + TrajectoryPoints reversed_trajectory_points; + reversed_trajectory_points.reserve(trajectory_points.size()); std::reverse_copy( trajectory_points.begin(), trajectory_points.end(), std::back_inserter(reversed_trajectory_points)); @@ -106,7 +107,7 @@ Trajectory alignTrajectoryWithReferenceTrajectory( // predicted_trajectory: 　　　　p1-----p2-----p3----//------pN // trajectory: t1--------//------tN // ↓ - // predicted_trajectory: 　　　　 tNew--p3----//------pN + // predicted_trajectory: 　　　　 pNew--p3----//------pN // trajectory: t1--------//------tN auto predicted_trajectory_point_removed = removeFrontTrajectoryPoint( trajectory_points, modified_trajectory_points, predicted_trajectory_points);