refactor(start_planner): guard for invalid lane id (#5376)

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Oct 23, 2023 · fdbe64a · fdbe64a
1 parent 911a272
commit fdbe64a
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -639,9 +639,7 @@ lanelet::ConstLanelets StartPlannerModule::getPathRoadLanes(const PathWithLaneId
   lanelet::ConstLanelets path_lanes;
   path_lanes.reserve(lane_ids.size());
   for (const auto & id : lane_ids) {
-    if (id != lanelet::InvalId) {
-      path_lanes.push_back(lanelet_layer.get(id));
-    }
+    path_lanes.push_back(lanelet_layer.get(id));
   }
 
   return path_lanes;