refactor

Signed-off-by: Yuki Takagi <[email protected]>
autowarefoundation · Jan 31, 2024 · b08e745 · b08e745
1 parent 386e1a6
commit b08e745
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
@@ -1548,9 +1548,10 @@ void ObstacleStopPlannerNode::filterObstacles(
   const PredictedObjects & input_objects, const Pose & ego_pose, const TrajectoryPoints & traj,
   const double dist_threshold, PredictedObjects & filtered_objects)
 {
-  filtered_objects.header = input_objects.header;
   if (traj.size() < 2) return;
 
+  filtered_objects.header = input_objects.header;
+
   for (auto & object : input_objects.objects) {
     // Check is it in front of ego vehicle
     if (!isFrontObstacle(ego_pose, object.kinematics.initial_pose_with_covariance.pose.position)) {