throw if smoothImpl failed

rayferric · rayferric · commit 442674027e47 · 2025-01-07T10:09:38.000+01:00
Signed-off-by: rayferric &lt;63957587+rayferric@users.noreply.github.com&gt;
diff --git a/nav2_smoother/src/simple_smoother.cpp b/nav2_smoother/src/simple_smoother.cpp
@@ -110,7 +110,13 @@ bool SimpleSmoother::smooth(
     throw nav2_core::FailedToSmoothPath("No segments were smoothed");
   }
 
-  return success;
+  if (!success) {
+    throw nav2_core::FailedToSmoothPath(
+            "Failed to smooth path either due to "
+            "infeasible collision or iteration limit");
+  }
+
+  return true;
 }
 
 bool SimpleSmoother::smoothImpl(

Original file line number	Diff line number	Diff line change
`@@ -110,7 +110,13 @@ bool SimpleSmoother::smooth(`
`110`	`110`	`throw nav2_core::FailedToSmoothPath("No segments were smoothed");`
`111`	`111`	`}`
`112`	`112`
`113`		`- return success;`
	`113`	`+ if (!success) {`
	`114`	`+ throw nav2_core::FailedToSmoothPath(`
	`115`	`+ "Failed to smooth path either due to "`
	`116`	`+ "infeasible collision or iteration limit");`
	`117`	`+ }`
	`118`	`+`
	`119`	`+ return true;`
`114`	`120`	`}`
`115`	`121`
`116`	`122`	`bool SimpleSmoother::smoothImpl(`