fix(behavior_path_planner): return default value if no registered mod…

…ule exists (#3843) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · May 26, 2023 · 3950f81 · 3950f81
1 parent 2af2daa
commit 3950f81
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/...ath_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/...ath_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
@@ -206,6 +206,10 @@ class SceneModuleManagerInterface
 
   bool isSimultaneousExecutableAsApprovedModule() const
   {
+    if (registered_modules_.empty()) {
+      return enable_simultaneous_execution_as_approved_module_;
+    }
+
     return std::all_of(
       registered_modules_.begin(), registered_modules_.end(), [](const SceneModulePtr & module) {
         return module->isSimultaneousExecutableAsApprovedModule();
@@ -214,6 +218,10 @@ class SceneModuleManagerInterface
 
   bool isSimultaneousExecutableAsCandidateModule() const
   {
+    if (registered_modules_.empty()) {
+      return enable_simultaneous_execution_as_candidate_module_;
+    }
+
     return std::all_of(
       registered_modules_.begin(), registered_modules_.end(), [](const SceneModulePtr & module) {
         return module->isSimultaneousExecutableAsCandidateModule();