fix empty itinerary duration

Signed-off-by: youliang <tan_you_liang@hotmail.com>
open-rmf · Jan 18, 2022 · c6b9ed4 · c6b9ed4
1 parent 113b671
commit c6b9ed4
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/rmf_task/src/rmf_task/Estimate.cpp b/rmf_task/src/rmf_task/Estimate.cpp
@@ -157,9 +157,13 @@ class TravelEstimator::Implementation
       battery_drain += dSOC_motion + dSOC_device;
     }
 
-    const auto duration =
-      plan->get_itinerary().back().trajectory().back().time()
-      - itinerary_start_time;
+    auto duration = rmf_traffic::Duration(0);
+    if (!plan->get_itinerary().empty())
+    {
+      duration =
+        plan->get_itinerary().back().trajectory().back().time()
+        - itinerary_start_time;
+    }
 
     return Result::Implementation::make(duration, battery_drain);
   }