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Planning: reeds_shepp_path GenerateLocalConfigurations fix #15136

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Planning: reeds_shepp_path GenerateLocalConfigurations fix #15136

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5 changes: 5 additions & 0 deletions modules/planning/open_space/coarse_trajectory_generator/reeds_shepp_path.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -923,6 +923,11 @@ bool ReedShepp::SetRSP(const int size, const double* lengths, const char* types,
bool ReedShepp::GenerateLocalConfigurations(
const std::shared_ptr<Node3d> start_node,
const std::shared_ptr<Node3d> end_node, ReedSheppPath* shortest_path) {
for (size_t i = 0; i < shortest_path->segs_lengths.size(); ++i) {
if (shortest_path->segs_lengths.at(i) == 0) {
shortest_path->segs_lengths.at(i) = 0.0001;
}
}
double step_scaled =
planner_open_space_config_.warm_start_config().step_size() * max_kappa_;

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