From 8aeb29d3436cca617d2b94353d1cb80a5e6166a2 Mon Sep 17 00:00:00 2001
From: "alexander.huang" <3365826446@qq.com>
Date: Tue, 16 Jan 2024 19:10:21 +0800
Subject: [PATCH] fix: fixed the bug of ExtendBackward when the restrict area
 is not empty

---
 modules/routing/core/result_generator.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/modules/routing/core/result_generator.cc b/modules/routing/core/result_generator.cc
index fc82f2fc1a0..4de747d81dc 100644
--- a/modules/routing/core/result_generator.cc
+++ b/modules/routing/core/result_generator.cc
@@ -147,6 +147,10 @@ void ResultGenerator::ExtendBackward(const TopoRangeManager& range_manager,
           double black_s_end = pred_range->back().EndS();
           if (!IsCloseEnough(black_s_end, pred_node->Length())) {
             pred_set.emplace_back(pred_node, black_s_end, pred_node->Length());
+            const auto &node_to_insert = GetLargestRange(pred_set);
+            curr_passage->nodes.insert(curr_passage->nodes.begin(), node_to_insert);
+            node_set_of_curr_passage.emplace(node_to_insert.GetTopoNode());
+            pred_set.clear();
           }
         } else {
           pred_set.emplace_back(pred_node, 0.0, pred_node->Length());