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fix(path_optimizer): fix possible zero division #10022

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Jan 29, 2025
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fix(path_optimizer): fix possible zero division #10022

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2 changes: 1 addition & 1 deletion planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ geometry_msgs::msg::Point getStartPoint(
{
const size_t segment_idx = autoware::motion_utils::findNearestSegmentIndex(bound, point);
const auto & curr_seg_point = bound.at(segment_idx);
const auto & next_seg_point = bound.at(segment_idx);
const auto & next_seg_point = bound.at(segment_idx + 1);
const Eigen::Vector2d first_to_target{point.x - curr_seg_point.x, point.y - curr_seg_point.y};
const Eigen::Vector2d first_to_second{
next_seg_point.x - curr_seg_point.x, next_seg_point.y - curr_seg_point.y};
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