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fix(control_validator): resolve the bug causing inappropriate diagnostic messages. (#4846) #824

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Sep 12, 2023
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fix(control_validator): resolve the bug causing inappropriate diagnostic messages. (#4846) #824

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5 changes: 3 additions & 2 deletions control/control_validator/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
Expand Down Expand Up @@ -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);
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