added suggestion

src/lib/pure_pursuit/PurePursuit.cpp

@@ -55,9 +55,9 @@ float PurePursuit::calcDesiredHeading(const Vector2f &curr_wp_ned, const Vector2
 	}
 
 	const Vector2f prev_wp_to_curr_pos = curr_pos_ned - prev_wp_ned;
-	const Vector2f distance_on_line_segment = ((prev_wp_to_curr_pos * prev_wp_to_curr_wp) /
-			prev_wp_to_curr_wp.norm()) *
-			prev_wp_to_curr_wp.normalized(); // Projection of prev_wp_to_curr_pos onto prev_wp_to_curr_wp
+	const Vector2f prev_wp_to_curr_wp_u = prev_wp_to_curr_wp.unit_or_zero();
+	const Vector2f distance_on_line_segment = (prev_wp_to_curr_pos * prev_wp_to_curr_wp_u) *
+			prev_wp_to_curr_wp_u; // Projection of prev_wp_to_curr_pos onto prev_wp_to_curr_wp
 	const Vector2f curr_pos_to_path = distance_on_line_segment -
 					  prev_wp_to_curr_pos; // Shortest vector from the current position to the path
 
@@ -68,7 +68,7 @@ float PurePursuit::calcDesiredHeading(const Vector2f &curr_wp_ned, const Vector2
 	const float line_extension = sqrt(powf(lookahead_distance, 2.f) - powf(curr_pos_to_path.norm(),
 					  2.f)); // Length of the vector from the endpoint of distance_on_line_segment to the intersection point
 	const Vector2f prev_wp_to_intersection_point = distance_on_line_segment + line_extension *
-			distance_on_line_segment.normalized();
+			prev_wp_to_curr_wp_u;
 	const Vector2f curr_pos_to_intersection_point = prev_wp_to_intersection_point - prev_wp_to_curr_pos;
 	return atan2f(curr_pos_to_intersection_point(1), curr_pos_to_intersection_point(0));