finally

Signed-off-by: Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Nov 30, 2023 · bc99260 · bc99260
1 parent 8ee4168
commit bc99260
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp
@@ -94,8 +94,8 @@ std::pair<bool, int32_t> ControlPerformanceAnalysisCore::findClosestPrevWayPoint
     return std::make_pair(false, std::numeric_limits<int32_t>::quiet_NaN());
   }
 
-  idx_prev_wp_ = std::make_unique<int32_t>(closest_segment.get());
-  idx_next_wp_ = std::make_unique<int32_t>(closest_segment.get() + 1);
+  idx_prev_wp_ = std::make_unique<int32_t>(closest_segment.value());
+  idx_next_wp_ = std::make_unique<int32_t>(closest_segment.value() + 1);
   return std::make_pair(true, *idx_prev_wp_);
 }
 
@@ -429,7 +429,7 @@ double ControlPerformanceAnalysisCore::estimateCurvature()
     RCLCPP_WARN(logger_, "Cannot find index of curvature reference waypoint ");
     return 0;
   }
-  const auto idx_curve_ref_wp = idx_curve_ref_wp_optional.get();
+  const auto idx_curve_ref_wp = idx_curve_ref_wp_optional.value();
 
   const auto & points = current_trajectory_ptr_->points;
 

diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp
@@ -43,7 +43,7 @@ class ElasticBandSmoother : public rclcpp::Node
     bool isDrivingForward(const std::vector<PathPoint> & path_points)
     {
       const auto is_driving_forward = motion_utils::isDrivingForward(path_points);
-      is_driving_forward_ = is_driving_forward ? is_driving_forward.get() : is_driving_forward_;
+      is_driving_forward_ = is_driving_forward ? is_driving_forward.value() : is_driving_forward_;
       return is_driving_forward_;
     }
 

diff --git a/planning/path_smoother/src/elastic_band_smoother.cpp b/planning/path_smoother/src/elastic_band_smoother.cpp
@@ -55,7 +55,7 @@ void setZeroVelocityAfterStopPoint(std::vector<TrajectoryPoint> & traj_points)
 {
   const auto opt_zero_vel_idx = motion_utils::searchZeroVelocityIndex(traj_points);
   if (opt_zero_vel_idx) {
-    for (size_t i = opt_zero_vel_idx.get(); i < traj_points.size(); ++i) {
+    for (size_t i = opt_zero_vel_idx.value(); i < traj_points.size(); ++i) {
       traj_points.at(i).longitudinal_velocity_mps = 0.0;
     }
   }
@@ -284,7 +284,7 @@ void ElasticBandSmoother::applyInputVelocity(
   // insert stop point explicitly
   const auto stop_idx = motion_utils::searchZeroVelocityIndex(forward_cropped_input_traj_points);
   if (stop_idx) {
-    const auto & input_stop_pose = forward_cropped_input_traj_points.at(stop_idx.get()).pose;
+    const auto & input_stop_pose = forward_cropped_input_traj_points.at(stop_idx.value()).pose;
     // NOTE: motion_utils::findNearestSegmentIndex is used instead of
     // trajectory_utils::findEgoSegmentIndex
     //       for the case where input_traj_points is much longer than output_traj_points, and the