Resolve the edge cases: when the closestrefpoint is the 1st or the last point

fjp / frenet

Transform Frenet (s,d) to local Cartesian (x,y) coordinates.

https://fjp.at/posts/optimal-frenet/

MIT License

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Closed ysonggit closed 4 years ago

ysonggit commented 4 years ago

This change fix the "Index exceeds the number of array elements " error, by assuming that a reference path has at least 2 points.

The logic

When the closestrefpoint is the 1st point of the reference path, then the closest2ndrefpoint is the 2nd point.
When the closestrefpoint is the last point of the reference path, then the closest2ndrefpint is the 2nd last point.