From d1c6b2bd75f3eb3c60d890110ea3838d3d466635 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Mon, 7 Nov 2022 13:51:07 +0900
Subject: [PATCH] fix(behavior_velocity_planner): int/uint for path index
 (#2221)

* fixed int/uint for path index

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* reflected comments

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../src/scene_module/intersection/util.cpp                    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
index 2658c4fb9fcd6..197fcd1bf9d38 100644
--- a/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
@@ -79,7 +79,7 @@ std::optional<std::pair<size_t, size_t>> findLaneIdInterval(
 {
   bool found = false;
   size_t start = 0;
-  size_t end = p.points.size() - 1;
+  size_t end = p.points.size() > 0 ? p.points.size() - 1 : 0;
   for (size_t i = 0; i < p.points.size(); ++i) {
     if (hasLaneId(p.points.at(i), lane_id)) {
       if (!found) {
@@ -93,7 +93,7 @@ std::optional<std::pair<size_t, size_t>> findLaneIdInterval(
       break;
     }
   }
-  start = std::max<size_t>(0, start - 1);  // the idx of last point before the interval
+  start = start > 0 ? start - 1 : 0;  // the idx of last point before the interval
   return found ? std::make_optional(std::make_pair(start, end)) : std::nullopt;
 }