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fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization #8225

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merged 3 commits into from
Aug 2, 2024
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fix(autoware_pure_pursuit): fix redundantInitialization redundantInitialization #8225

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023373c
fix(autoware_pure_pursuit): fix redundantInitialization redundantInit…
veqcc Jul 26, 2024
ba5a81a
style(pre-commit): autofix
pre-commit-ci[bot] Jul 26, 2024
960fbc3
Update control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/i…
takayuki5168 Aug 2, 2024
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16 changes: 7 additions & 9 deletions ...oware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -450,15 +450,13 @@
const bool is_reverse = (target_vel < 0);
const double min_lookahead_distance =
is_reverse ? param_.reverse_min_lookahead_distance : param_.min_lookahead_distance;
double lookahead_distance = min_lookahead_distance;
if (is_control_output) {
lookahead_distance = calcLookaheadDistance(
lateral_error, current_curvature, current_odometry_.twist.twist.linear.x,
min_lookahead_distance, is_control_output);
} else {
lookahead_distance = calcLookaheadDistance(
lateral_error, current_curvature, target_vel, min_lookahead_distance, is_control_output);
}
double lookahead_distance =
is_control_output
? calcLookaheadDistance(
lateral_error, current_curvature, current_odometry_.twist.twist.linear.x,
min_lookahead_distance, is_control_output)
: calcLookaheadDistance(

Check warning on line 458 in control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp

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control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp#L458 

Added line #L458 was not covered by tests
lateral_error, current_curvature, target_vel, min_lookahead_distance, is_control_output);

// Set PurePursuit data
pure_pursuit_->setCurrentPose(pose);
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3 changes: 1 addition & 2 deletions control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/interpolate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,9 +113,8 @@ void SplineInterpolate::generateSpline(const std::vector<double> & x)
std::vector<double> w_;
w_.push_back(0.0);

double tmp;
for (int i = 1; i < N - 1; i++) {
tmp = 1.0 / (4.0 - w_[i - 1]);
const double tmp = 1.0 / (4.0 - w_[i - 1]);
c_[i] = (c_[i] - c_[i - 1]) * tmp;
w_.push_back(tmp);
}
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