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Fix findWayPointIndicesForDurationAfterStart method when out of bounds #3626

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Fix findWayPointIndicesForDurationAfterStart method when out of bounds #3626

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8313b62
Fix findWayPointIndicesForDurationAfterStart method when out of bound…
XingxinHE Nov 29, 2025
cd33ff9
Use .at() to index deque; Add 2 more edge test cases
XingxinHE Nov 30, 2025
d106207
Revise function comments
XingxinHE Nov 30, 2025
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4 changes: 2 additions & 2 deletions moveit_core/robot_trajectory/src/robot_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -509,7 +509,7 @@ RobotTrajectory& RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::Robo
void RobotTrajectory::findWayPointIndicesForDurationAfterStart(double duration, int& before, int& after,
double& blend) const
{
if (duration < 0.0)
if (duration < 0.0 || waypoints_.empty())
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@XingxinHE XingxinHE Nov 29, 2025

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The change in line 539 is not enough to handle the case that waypoints is empty. i.e. index an empty deque with [0]

{
before = 0;
after = 0;
Expand All @@ -530,13 +530,13 @@ void RobotTrajectory::findWayPointIndicesForDurationAfterStart(double duration,
after = std::min<int>(index, num_points - 1);

// Compute duration blend
double before_time = running_duration - duration_from_previous_[index];
if (after == before)
{
blend = 1.0;
}
else
{
double before_time = running_duration - duration_from_previous_[index];
blend = (duration - before_time) / duration_from_previous_[index];
}
}
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74 changes: 74 additions & 0 deletions moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -598,6 +598,80 @@ TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryDensity)
EXPECT_FALSE(density.has_value());
}

TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryFindWayPointIndices)
{
robot_trajectory::RobotTrajectoryPtr trajectory;
initTestTrajectory(trajectory);
EXPECT_EQ(trajectory->size(), 5);
EXPECT_EQ(trajectory->getDuration(), 0.5);

int before = -1;
int after = -1;
double blend = -1.0;

trajectory->findWayPointIndicesForDurationAfterStart(0.15, before, after, blend);
EXPECT_EQ(before, 0);
EXPECT_EQ(after, 1);
EXPECT_NEAR(blend, /*between 0 and 1*/ 0.5, 1e-6);

trajectory->findWayPointIndicesForDurationAfterStart(0.3, before, after, blend);
EXPECT_EQ(before, 1);
EXPECT_EQ(after, 2);
EXPECT_NEAR(blend, /*exactly at 2*/ 1.0, 1e-6);
}

TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryFindWayPointIndicesTotal)
{
robot_trajectory::RobotTrajectoryPtr trajectory;
initTestTrajectory(trajectory);

int before = -1;
int after = -1;
double blend = -1.0;

const double total_duration = trajectory->getDuration();
trajectory->findWayPointIndicesForDurationAfterStart(total_duration, before, after, blend);
EXPECT_EQ(before, 3);
EXPECT_EQ(after, 4);
EXPECT_DOUBLE_EQ(blend, 1.0);
}

TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryFindWayPointIndicesOutOfBounds)
{
robot_trajectory::RobotTrajectoryPtr trajectory;
initTestTrajectory(trajectory);

const double total_duration = trajectory->getDuration();
const double outbound_duration = total_duration + 100.0;
EXPECT_GT(outbound_duration, total_duration);

int before = -1;
int after = -1;
double blend = -1.0;
trajectory->findWayPointIndicesForDurationAfterStart(outbound_duration, before, after, blend);
EXPECT_EQ(before, 4);
EXPECT_EQ(after, 4);
EXPECT_DOUBLE_EQ(blend, 1.0);
}

TEST_F(RobotTrajectoryTestFixture, RobotTrajectoryFindWayPointIndicesOutOfBoundsEmpty)
{
robot_trajectory::RobotTrajectory empty_traj(robot_model_, arm_jmg_name_);
const double total_duration = empty_traj.getDuration();
EXPECT_DOUBLE_EQ(total_duration, 0.0);

const double outbound_duration = 1.0;
EXPECT_GT(outbound_duration, total_duration);

int before = -1;
int after = -1;
double blend = -1.0;
empty_traj.findWayPointIndicesForDurationAfterStart(outbound_duration, before, after, blend);
EXPECT_EQ(before, 0);
EXPECT_EQ(after, 0);
EXPECT_DOUBLE_EQ(blend, 0.0);
}

TEST_F(OneRobot, Unwind)
{
const double epsilon = 1e-4;
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