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fix(lanelet2_utils): add invalid bound size handler in combine_lanelets_shape #878

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fix(lanelet2_utils): add invalid bound size handler in combine_lanelets_shape #878

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8 changes: 6 additions & 2 deletions common/autoware_lanelet2_utils/src/geometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -500,11 +500,15 @@ std::optional<lanelet::ConstLanelet> combine_lanelets_shape(const lanelet::Const
}

const auto combined_lanelet_opt = create_safe_lanelet(lefts, rights);
assert(combined_lanelet_opt.has_value() && "lefts or rights bound size is less than 2.");
if (!combined_lanelet_opt.has_value()) {
return std::nullopt;
}
auto combined_lanelet = remove_const(*combined_lanelet_opt);

const auto center_line_opt = create_safe_linestring(centers);
assert(center_line_opt.has_value() && "centers size is less than 2.");
if (!center_line_opt.has_value()) {
return std::nullopt;
}
const auto center_line = remove_const(*center_line_opt);

combined_lanelet.setCenterline(center_line);
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