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Signed-off-by: Masaya Kataoka <[email protected]>
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common/math/geometry/src/spline/hermite_curve.cpp

Lines changed: 3 additions & 4 deletions
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@@ -135,10 +135,9 @@ std::set<double> HermiteCurve::getCollisionPointsIn2D(
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double d = dy_ * ex - dx_ * ey - ex * fy + ey * fx;
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const auto get_solutions = [search_backward, a, b, c, d, this]() -> std::vector<double> {
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if (solver_.isApproximatelyEqualTo(a, 0.0) &&
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solver_.isApproximatelyEqualTo(b, 0.0) &&
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solver_.isApproximatelyEqualTo(c, 0.0) &&
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solver_.isApproximatelyEqualTo(d, 0.0)) {
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if (
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solver_.isApproximatelyEqualTo(a, 0.0) && solver_.isApproximatelyEqualTo(b, 0.0) &&
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solver_.isApproximatelyEqualTo(c, 0.0) && solver_.isApproximatelyEqualTo(d, 0.0)) {
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/**
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* @note If all coefficients are zero, the cubic equation is satisfied for all x values.
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* In this case, return 0 or 1 depending on the search direction.

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