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fix(behavior_path_planner): return default value if no registered module exists #3843

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May 26, 2023
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fix(behavior_path_planner): return default value if no registered module exists #3843

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8 changes: 8 additions & 0 deletions ...ath_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,6 +206,10 @@ class SceneModuleManagerInterface

bool isSimultaneousExecutableAsApprovedModule() const
{
if (registered_modules_.empty()) {
return enable_simultaneous_execution_as_approved_module_;
}

return std::all_of(
registered_modules_.begin(), registered_modules_.end(), [](const SceneModulePtr & module) {
return module->isSimultaneousExecutableAsApprovedModule();
Expand All @@ -214,6 +218,10 @@ class SceneModuleManagerInterface

bool isSimultaneousExecutableAsCandidateModule() const
{
if (registered_modules_.empty()) {
return enable_simultaneous_execution_as_candidate_module_;
}

return std::all_of(
registered_modules_.begin(), registered_modules_.end(), [](const SceneModulePtr & module) {
return module->isSimultaneousExecutableAsCandidateModule();
Expand Down