Catch and fix NaNs in the fillOrientations function #513
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- Check for NaNs in the swri_route_util/src/util.cpp fillOrientations function - Replace the invalid orientations with orientations from nearest neighbors in the route with valid orientations - Simplify the orientation calculation to use center difference rather than averaging of vectors
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I'm going to make a new release of marti_common soon, should we get this change in first? |
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probably |
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in the route with valid orientations
averaging of vectors