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fix(crane_local_planner): ボール回避でtarget_pos==ball_pos時のNaNをガード #1394

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fix(crane_local_planner): ボール回避でtarget_pos==ball_pos時のNaNをガード #1394

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8 changes: 6 additions & 2 deletions crane_local_planner/src/rvo2_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -800,8 +800,12 @@ auto RVO2Planner::adjustForBallAvoidance(
return 0.2;
}
}();
if ((target_pos - ball_pos).norm() < MIN_BALL_DISTANCE) {
target_pos = ball_pos + (target_pos - ball_pos).normalized() * MIN_BALL_DISTANCE;
if (const double diff_norm = (target_pos - ball_pos).norm(); diff_norm < MIN_BALL_DISTANCE) {
// target_pos と ball_pos が一致(diff_norm==0)する場合、normalized() がゼロ長ベクトルに対して
// NaN を生成し target_pos を汚染するため、ゼロ近傍ではボール回避調整をスキップする
if (diff_norm > 1e-9) {
target_pos = ball_pos + (target_pos - ball_pos).normalized() * MIN_BALL_DISTANCE;
}
}
if ((current_pos - ball_pos).norm() < MIN_BALL_DISTANCE) {
// 現在位置が近い場合は、最優先で離れる
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