diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
index e671277b1ff80..28ef17cea4705 100644
--- a/perception/map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -1033,7 +1033,9 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
             std::max(static_cast<int>((curvature_calculation_distance) / points_interval), 1));
           const auto curvature_v =
             calcTrajectoryCurvatureFrom3Points(trajectory_with_const_velocity, idx_dist);
-          if (curvature_v.empty()) continue;
+          if (curvature_v.empty()) {
+            continue;
+          }
           const auto curvature_avg =
             std::accumulate(curvature_v.begin(), curvature_v.end(), 0.0) / curvature_v.size();
           if (curvature_avg < min_avg_curvature) {