From ca2693ee6329fe90c2551860ce248e2e33618da7 Mon Sep 17 00:00:00 2001
From: Jarek Karwowski <chromedivizer@gmail.com>
Date: Wed, 20 Sep 2023 18:24:18 +0200
Subject: [PATCH] `planner` - implemented early return in `selectRelevant`
 (when all objects are neglected)

---
 include/hubero_local_planner/hubero_planner.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/include/hubero_local_planner/hubero_planner.h b/include/hubero_local_planner/hubero_planner.h
index b3fc1656..43cab04a 100644
--- 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