fix(control_validator): resolve the bug causing inappropriate diagnostic messages. #4846
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…ajectory array Signed-off-by: keiota <k3robot@gmail.com>
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Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## main #4846 +/- ##
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Coverage 15.11% 15.12%
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Files 1574 1573 -1
Lines 108435 108368 -67
Branches 33316 33289 -27
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- Hits 16395 16393 -2
+ Misses 74163 74113 -50
+ Partials 17877 17862 -15
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…tic messages. (autowarefoundation#4846) * fix(control_validator): fix reverseTrajectoryPoints to get correct trajectory array Signed-off-by: keiota <k3robot@gmail.com> * fix(control_validator): fix line breaks Signed-off-by: keiota <k3robot@gmail.com> * style(pre-commit): autofix * Update control/control_validator/src/utils.cpp --------- Signed-off-by: keiota <k3robot@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
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…message fix(control_validator): resolve the bug causing inappropriate diagnostic messages. (autowarefoundation#4846)
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Description
In this PR, I resolved a bug showing inappropriate messages "planning trajectory is too far from ego!!", that occur during deviation check between reference trajectory and predicted trajectory.
The cause of this bug was that empty coordinates were added to the trajectory and the wrong length array was provided.
Before this PR
During Psim, after decided a rooting we can constantly see a warning message "planning trajectory is too far from ego!!" even though the trajectory looks no problem.
[component_container-34] [WARN] [1693455073.217942402] [control.control_validator]: planning trajectory is too far from ego!!After this PR
I have not tested it yet, but this message no longer appears incorrectly.
Tests performed
I haven't test with unit test but checked on my computer that message is not shown.
Effects on system behavior
Not applicable.
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