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veqcckarishma1911
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refactor(behavior_velocity_no_stopping_area_module): cppcheck warnings (autowarefoundation#6986)
* remove redundant if branch Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * remove unused variable Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> * remove redundant initialization Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp> --------- Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
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planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp

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Original file line numberDiff line numberDiff line change
@@ -87,12 +87,8 @@ boost::optional<LineString2d> NoStoppingAreaModule::getStopLineGeometry2d(
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const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}};
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std::vector<Point2d> collision_points;
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bg::intersection(area_poly, line, collision_points);
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if (collision_points.empty()) {
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continue;
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}
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const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
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if (!collision_points.empty()) {
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geometry_msgs::msg::Point left_point;
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const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
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const double w = planner_data_->vehicle_info_.vehicle_width_m;
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const double l = stop_line_margin;
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stop_line.emplace_back(
@@ -306,7 +302,6 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
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const int num_ignore_nearest = 1; // Do not consider nearest lane polygon
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size_t ego_area_start_idx = closest_idx + num_ignore_nearest;
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size_t ego_area_end_idx = ego_area_start_idx;
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// return if area size is not intentional
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if (no_stopping_area_reg_elem_.noStoppingAreas().size() != 1) {
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return ego_area;
@@ -330,7 +325,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
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}
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double dist_from_area_sum = 0.0;
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// decide end idx with extract distance
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ego_area_end_idx = ego_area_start_idx;
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size_t ego_area_end_idx = ego_area_start_idx;
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for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) {
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dist_from_start_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
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const auto & p = pp.at(i).point.pose.position;

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