fix(path_optimizer): fix possible zero division (#10022)

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jan 29, 2025 · a6baa18 · a6baa18
1 parent fcd1c7b
commit a6baa18
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp b/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
@@ -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};