fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-branch-c…

…lone (autowarefoundation#9652) fix: bugprone-error Signed-off-by: kobayu858 <[email protected]>
NorahXiong · Dec 18, 2024 · 6524f38 · 6524f38
1 parent f8ef146
commit 6524f38
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/...ion/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/...ion/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
@@ -144,10 +144,11 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     transformPointAndCalculate(pt, pt_map, angle_bin_index, range);
 
     // Ignore obstacle points exceed the range of the raw points
-    if (raw_pointcloud_angle_bins.at(angle_bin_index).empty()) {
-      continue;  // No raw point in this angle bin
-    } else if (range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
-      continue;  // Obstacle point exceeds the range of the raw points
+    // No raw point in this angle bin, or obstacle point exceeds the range of the raw points
+    if (
+      raw_pointcloud_angle_bins.at(angle_bin_index).empty() ||
+      range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
+      continue;
     }
     obstacle_pointcloud_angle_bins.at(angle_bin_index).emplace_back(range, pt_map[0], pt_map[1]);
   }

diff --git a/...utoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/...utoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
@@ -153,10 +153,11 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     const double dz = scan_z - obstacle_z;
 
     // Ignore obstacle points exceed the range of the raw points
-    if (raw_pointcloud_angle_bins.at(angle_bin_index).empty()) {
-      continue;  // No raw point in this angle bin
-    } else if (range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
-      continue;  // Obstacle point exceeds the range of the raw points
+    // No raw point in this angle bin, or obstacle point exceeds the range of the raw points
+    if (
+      raw_pointcloud_angle_bins.at(angle_bin_index).empty() ||
+      range > raw_pointcloud_angle_bins.at(angle_bin_index).back().range) {
+      continue;
     }
 
     if (dz > projection_dz_threshold_) {