fix(avoidance): use lambda

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Feb 26, 2024 · a52553a · a52553a
1 parent e677db4
commit a52553a
Showing 1 changed file with 3 additions and 7 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -340,13 +340,9 @@ bool isNearEndOfShift(
     return false;
   }
 
-  for (const auto & lane : original_lanes) {
-    if (within(to2D(toLaneletPoint(ego_pos)), lane.polygon2d().basicPolygon())) {
-      return true;
-    }
-  }
-
-  return false;
+  return std::any_of(original_lanes.begin(), original_lanes.end(), [&ego_pos](const auto & lane) {
+    return within(to2D(toLaneletPoint(ego_pos)), lane.polygon2d().basicPolygon());
+  });
 }
 
 bool straddleRoadBound(