remove unnecessary local variable

Signed-off-by: stevedan <[email protected]>
ros-navigation · Nov 18, 2024 · e06f1db · e06f1db
1 parent 66537c8
commit e06f1db
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Showing 2 changed files with 4 additions and 9 deletions.
diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -170,13 +170,11 @@ void SmacPlannerHybrid::configure(
   nav2_util::declare_parameter_if_not_declared(
     node, name + ".goal_heading_mode", rclcpp::ParameterValue("DEFAULT"));
   node->get_parameter(name + ".goal_heading_mode", goal_heading_type);
-  GoalHeadingMode goal_heading_mode = fromStringToGH(goal_heading_type);
-  if (goal_heading_mode == GoalHeadingMode::UNKNOWN) {
+  _goal_heading_mode = fromStringToGH(goal_heading_type);
+  if (_goal_heading_mode == GoalHeadingMode::UNKNOWN) {
     std::string error_msg = "Unable to get GoalHeader type. Given '" + goal_heading_type + "' "
       "Valid options are DEFAULT, BIDIRECTIONAL, ALL_DIRECTION. ";
     throw nav2_core::PlannerException(error_msg);
-  } else {
-    _goal_heading_mode = goal_heading_mode;
   }
 
   _motion_model = fromString(_motion_model_for_search);

diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -145,14 +145,11 @@ void SmacPlannerLattice::configure(
   nav2_util::declare_parameter_if_not_declared(
     node, name + ".goal_heading_mode", rclcpp::ParameterValue("DEFAULT"));
   node->get_parameter(name + ".goal_heading_mode", goal_heading_type);
-  GoalHeadingMode goal_heading_mode = fromStringToGH(goal_heading_type);
-  goal_heading_mode = fromStringToGH(goal_heading_type);
-  if (goal_heading_mode == GoalHeadingMode::UNKNOWN) {
+  _goal_heading_mode = fromStringToGH(goal_heading_type);
+  if (_goal_heading_mode == GoalHeadingMode::UNKNOWN) {
     std::string error_msg = "Unable to get GoalHeader type. Given '" + goal_heading_type + "' "
       "Valid options are DEFAULT, BIDIRECTIONAL, ALL_DIRECTION. ";
     throw nav2_core::PlannerException(error_msg);
-  } else {
-    _goal_heading_mode = goal_heading_mode;
   }
 
   _metadata = LatticeMotionTable::getLatticeMetadata(_search_info.lattice_filepath);