Fix false triggering

Jaeyoung-Lim · Jaeyoung-Lim · commit 8fbf81d2464f · 2024-03-28T08:55:48.000+01:00
diff --git a/terrain_navigation/include/terrain_navigation/path.h b/terrain_navigation/include/terrain_navigation/path.h
@@ -136,7 +136,7 @@ class Path {
         Eigen::Vector3d next_segment_start = segments[segment_idx].states.front().position;
         if ((closest_point - next_segment_start).norm() < epsilon_) {
           segment.reached = true;
-          return segment;
+          return segments[segment_idx];
         }
       }
 

Original file line number	Diff line number	Diff line change
`@@ -136,7 +136,7 @@ class Path {`
`136`	`136`	`Eigen::Vector3d next_segment_start = segments[segment_idx].states.front().position;`
`137`	`137`	`if ((closest_point - next_segment_start).norm() < epsilon_) {`
`138`	`138`	`segment.reached = true;`
`139`		`- return segment;`
	`139`	`+ return segments[segment_idx];`
`140`	`140`	`}`
`141`	`141`	`}`
`142`	`142`