dspetrich / corridor Goto Github PK

I just realized with one of our lanelet2 maps that instanciating a Corridor object results in a segmentation fault if the reference line contains duplicate points.
That is because the delta arc lengths in ClampedSplineMatrixL() become zero.

I don't know if you want to catch duplicate points or mention that assumption in the Readme or so, but I guess it helps letting you know that lanelet2 does not forbid duplicate points in a linestring, so that could happen to all people using lanelet2.
For me, I solved it by removing duplicates before creating the Corridor object.

First of all, thanks @dspetrich for this great library and your talk at our institute! I'm considering using it in my planning stack :)

After checking your headers and examples, I'm wondering:
What is the intended way to access the cubic spline reference line of a corridor, namely the reference_line_? Wouldn't it make sense to expose reference_line_ with a const getter function?

The application I have in mind is creating a corridor object from a given lanelet sequence and resample a smoothed version of the reference line, e.g. as an initialization path for trajectory planning, predition, …