From feaf4b806bf769edaefc98bbc5f0a7820e2d6add Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <maxime.clement@tier4.jp>
Date: Mon, 4 Mar 2024 14:42:46 +0900
Subject: [PATCH] fix(mpc_lateral_controller): remove overlaps when calculating
 trajectory

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
---
 control/mpc_lateral_controller/src/mpc_utils.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/mpc_lateral_controller/src/mpc_utils.cpp
index 01a81d9015b47..37f6f64784a26 100644
--- a/control/mpc_lateral_controller/src/mpc_utils.cpp
+++ b/control/mpc_lateral_controller/src/mpc_utils.cpp
@@ -289,6 +289,7 @@ Trajectory convertToAutowareTrajectory(const MPCTrajectory & input)
       break;
     }
   }
+  output.points = motion_utils::removeOverlapPoints(output.points);
   return output;
 }