Merge remote-tracking branch 'origin/RJD-1057-remove-functions-forwar…

…ded-to-entity-base-refactor' into ref/RJD-1057-improve-responsibility-simulator-core-api
tier4 · Oct 14, 2024 · e4b96cb · e4b96cb
2 parents 3868f03 + 0149eec
commit e4b96cb
Showing 1 changed file with 21 additions and 24 deletions.
diff --git a/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp b/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
@@ -182,34 +182,31 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
       spawn_and_cross_pedestrian(i);
     }
 
-    {
-      const auto trigger_position = traffic_simulator::helper::constructLaneletPose(34621, 10, 0.0);
-      const auto ego_goal_position =
-        traffic_simulator::helper::constructLaneletPose(34606, 0.0, 0.0);
-      const auto entity_name = "spawn_nearby_ego";
-
-      if (ego_entity->isInPosition(trigger_position, 20.0) && !api_.isEntitySpawned(entity_name)) {
-        api_.spawn(
-          entity_name,
-          traffic_simulator::pose::transformRelativePoseToGlobal(
-            ego_entity->getMapPose(),
-            geometry_msgs::build<geometry_msgs::msg::Pose>()
-              .position(geometry_msgs::build<geometry_msgs::msg::Point>().x(10).y(-5).z(0))
-              .orientation(geometry_msgs::msg::Quaternion())),
-          getVehicleParameters(),
-          traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
-      }
+    const auto trigger_position = traffic_simulator::helper::constructLaneletPose(34621, 10, 0.0);
+    constexpr auto entity_name = "spawn_nearby_ego";
+    if (ego_entity->isInPosition(trigger_position, 20.0) && !api_.isEntitySpawned(entity_name)) {
+      api_.spawn(
+        entity_name,
+        traffic_simulator::pose::transformRelativePoseToGlobal(
+          ego_entity->getMapPose(),
+          geometry_msgs::build<geometry_msgs::msg::Pose>()
+            .position(geometry_msgs::build<geometry_msgs::msg::Point>().x(10).y(-5).z(0))
+            .orientation(geometry_msgs::msg::Quaternion())),
+        getVehicleParameters(),
+        traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
+    }
 
-      if (!ego_entity->isInPosition(trigger_position, 20.0) && api_.isEntitySpawned(entity_name)) {
-        api_.despawn(entity_name);
-      }
+    if (!ego_entity->isInPosition(trigger_position, 20.0) && api_.isEntitySpawned(entity_name)) {
+      api_.despawn(entity_name);
+    }
 
-      if (ego_entity->isInPosition(ego_goal_position, 1.0)) {
-        api_.despawn("ego");
-        stop(cpp_mock_scenarios::Result::SUCCESS);
-      }
+    const auto ego_goal_position = traffic_simulator::helper::constructLaneletPose(34606, 0.0, 0.0);
+    if (ego_entity->isInPosition(ego_goal_position, 1.0)) {
+      api_.despawn("ego");
+      stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
+
   void onInitialize() override
   {
     // api_.setVerbose(true);