From 3677bda7d042df0ea3e295b1b3d09fdf4fdae65b Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Wed, 26 Feb 2025 20:43:05 +0900 Subject: [PATCH] fix(autoware_motion_velocity_planner_common_universe): check optional before accessing (#10183) * Update polygon_utils.cpp fix bug-prone code Signed-off-by: Y.Hisaki * Update polygon_utils.cpp --------- Signed-off-by: Y.Hisaki --- .../src/polygon_utils.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/polygon_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/polygon_utils.cpp index 21deaec2c0c02..cd99d9d8469e9 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/polygon_utils.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/polygon_utils.cpp @@ -150,6 +150,7 @@ std::optional> get_collision_point( max_collision_point = poly_vertex.point; } } + if (!max_collision_point.has_value() || !max_collision_length.has_value()) return std::nullopt; return std::make_pair( *max_collision_point, autoware::motion_utils::calcSignedArcLength(traj_points, 0, collision_info.first) -