refactor(multi_object_tracker): use constexpr properly (#7206)

reafctor multi_object_tracker Signed-off-by: Ryuta Kambe <[email protected]>
autowarefoundation · Jun 3, 2024 · 9a5e6c6 · 9a5e6c6
1 parent 1b7c600
commit 9a5e6c6
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Showing 4 changed files with 12 additions and 12 deletions.
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -127,9 +127,9 @@ BicycleTracker::BicycleTracker(
       constexpr double p0_stddev_y = 0.5;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -147,9 +147,9 @@ BigVehicleTracker::BigVehicleTracker(
       constexpr double p0_stddev_y = 0.5;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -148,9 +148,9 @@ NormalVehicleTracker::NormalVehicleTracker(
       constexpr double p0_stddev_y = 0.3;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);

diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -122,9 +122,9 @@ PedestrianTracker::PedestrianTracker(
       constexpr double p0_stddev_y = 2.0;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
         tier4_autoware_utils::deg2rad(1000);  // in map coordinate [rad]
-      constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0);
-      constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0);
-      constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
+      constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
+      constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
+      constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
 
       const double cos_yaw = std::cos(yaw);
       const double sin_yaw = std::sin(yaw);