planner - implemented early return in selectRelevant (when all ob…

…jects are neglected)
rayvburn · Sep 20, 2023 · ca2693e · ca2693e
1 parent ec8146f
commit ca2693e
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/include/hubero_local_planner/hubero_planner.h b/include/hubero_local_planner/hubero_planner.h
@@ -360,6 +360,11 @@ class HuberoPlanner {
 			return std::move(objects);
 		}
 
+		// some type of objects is completely neglected
+		if (max_object_num == 0) {
+			return std::vector<T>();
+		}
+
 		// pair with scalar metric and object
 		std::vector<std::pair<double, T>> objects_sort;
 		// save metrics for each object