fix(cpp_mock_scenarios): merge changes in random001

tier4 · Oct 14, 2024 · fec8821 · fec8821
1 parent 4681b25
commit fec8821
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp b/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
@@ -195,25 +195,25 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
         34606, 0.0, 0.0, api_.getHdmapUtils());
       const auto entity_name = "spawn_nearby_ego";
 
-      if (const auto ego = api_.getEntity("ego")) {
-        if (api_.isInPosition("ego", trigger_position, 20.0) && !api_.isEntitySpawned(entity_name)) {
+      if (ego_entity) {
+        if (ego_entity->isInPosition(trigger_position, 20.0) && !api_.isEntitySpawned(entity_name)) {
           api_.spawn(
             entity_name,
             traffic_simulator::pose::transformRelativePoseToGlobal(
-              ego->getMapPose(),
+              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 (!api_.isInPosition("ego", trigger_position, 20.0) && api_.isEntitySpawned(entity_name)) {
+        if (!ego_entity->isInPosition(trigger_position, 20.0) && api_.isEntitySpawned(entity_name)) {
           api_.despawn(entity_name);
         }
       }
 
-      if (api_.isInPosition("ego", ego_goal_position, 1.0)) {
+      if (ego_entity->isInPosition(ego_goal_position, 1.0)) {
         api_.despawn("ego");
         stop(cpp_mock_scenarios::Result::SUCCESS);
       }