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rayvburn / humap_local_planner

Human-aware robot trajectory planner using a hybrid trajectory candidates generation and spatiotemporal cost functions
BSD 3-Clause "New" or "Revised" License
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unhandled case in `TrapezoidParted` #117

Open rayvburn opened 1 year ago

rayvburn commented 1 year ago

After a corrupted rel_loc (-nan), which occurs after Cn's multiplier is set to a negative value, following was caught:

terminate called after throwing an instance of 'std::runtime_error'
  what():  unhandled case in trapezoid update (section 2)

Of course this is related to some abnormal parameter configuration and should be fixed, but for now will leave it as it is.