fix(autoware_mpc_lateral_controller): fix duplicateExpression warning (…

…autowarefoundation#7542) * fix(autoware_mpc_lateral_controller): fix duplicateExpression warning Signed-off-by: Ryuta Kambe <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
shtokuda · Jun 20, 2024 · 73e22ca · 73e22ca
1 parent ac43d07
commit 73e22ca
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -660,8 +660,8 @@ bool MpcLateralController::isValidTrajectory(const Trajectory & traj) const
       !isfinite(p.pose.orientation.w) || !isfinite(p.pose.orientation.x) ||
       !isfinite(p.pose.orientation.y) || !isfinite(p.pose.orientation.z) ||
       !isfinite(p.longitudinal_velocity_mps) || !isfinite(p.lateral_velocity_mps) ||
-      !isfinite(p.lateral_velocity_mps) || !isfinite(p.heading_rate_rps) ||
-      !isfinite(p.front_wheel_angle_rad) || !isfinite(p.rear_wheel_angle_rad)) {
+      !isfinite(p.heading_rate_rps) || !isfinite(p.front_wheel_angle_rad) ||
+      !isfinite(p.rear_wheel_angle_rad)) {
       return false;
     }
   }