From e5d5f1d6289d0adb8ddc0eb8afd21efeb5d7a2f3 Mon Sep 17 00:00:00 2001 From: Zhang Liangliang Date: Fri, 28 Jul 2017 16:35:01 -0700 Subject: [PATCH] added lane_waypoints when empty in planning. --- modules/planning/reference_line/reference_line.cc | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/modules/planning/reference_line/reference_line.cc b/modules/planning/reference_line/reference_line.cc index f0d66ca9b0..6578003dee 100644 --- a/modules/planning/reference_line/reference_line.cc +++ b/modules/planning/reference_line/reference_line.cc @@ -61,16 +61,22 @@ ReferencePoint ReferenceLine::get_reference_point(const double s) const { AWARN << "The requested s is nearer than the start point of the reference " "line; reference line starts at " << accumulated_s.back() << ", requested " << s << "."; - ReferencePoint ref_point(reference_map_line_.get_smooth_point(s), - 0.0, 0.0, 0.0, 0.0); + ReferencePoint ref_point(reference_map_line_.get_smooth_point(s), 0.0, 0.0, + 0.0, 0.0); + if (ref_point.lane_waypoints().empty()) { + ref_point.add_lane_waypoints(reference_points_.front().lane_waypoints()); + } return ref_point; } if (s > accumulated_s.back()) { AWARN << "The requested s exceeds the reference line; reference line " "ends at " << accumulated_s.back() << "requested " << s << " ."; - ReferencePoint ref_point(reference_map_line_.get_smooth_point(s), - 0.0, 0.0, 0.0, 0.0); + ReferencePoint ref_point(reference_map_line_.get_smooth_point(s), 0.0, 0.0, + 0.0, 0.0); + if (ref_point.lane_waypoints().empty()) { + ref_point.add_lane_waypoints(reference_points_.back().lane_waypoints()); + } return ref_point; } -- GitLab