fix: fix curve deceleration (autowarefoundation#777) (autowarefoundat…

…ion#178)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

planning/motion_velocity_smoother/src/smoother/smoother_base.cpp

@@ -79,8 +79,8 @@ boost::optional<TrajectoryPoints> SmootherBase::applyLateralAccelerationFilter(
 
   for (size_t i = 0; i < output->size(); ++i) {
     double curvature = 0.0;
-    const size_t start = i > before_decel_index ? i - before_decel_index : 0;
-    const size_t end = std::min(output->size(), i + after_decel_index);
+    const size_t start = i > after_decel_index ? i - after_decel_index : 0;
+    const size_t end = std::min(output->size(), i + before_decel_index);
     for (size_t j = start; j < end; ++j) {
       curvature = std::max(curvature, std::fabs(curvature_v->at(j)));
     }