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fix(autoware_freespace_planning_algorithms): fix unreadVariable (#8360)
* fix:unreadVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
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planning/autoware_freespace_planning_algorithms/src/reeds_shepp.cpp

+6-8
Original file line numberDiff line numberDiff line change
@@ -208,10 +208,8 @@ void CSC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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ReedsSheppStateSpace::ReedsSheppPath(ReedsSheppStateSpace::reedsSheppPathType[13], t, u, v);
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L_min = L;
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}
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if (
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LpSpRp(-x, -y, phi, t, u, v) &&
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L_min > (L = std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
214-
{
211+
// time flip + reflect
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if (LpSpRp(-x, -y, phi, t, u, v) && L_min > (std::abs(t) + std::abs(u) + std::abs(v))) {
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path = ReedsSheppStateSpace::ReedsSheppPath(
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ReedsSheppStateSpace::reedsSheppPathType[13], -t, -u, -v);
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}
@@ -288,7 +286,7 @@ void CCC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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}
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if (
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LpRmL(-xb, -yb, phi, t, u, v) &&
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L_min > (L = std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
289+
L_min > (std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
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{
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path =
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ReedsSheppStateSpace::ReedsSheppPath(ReedsSheppStateSpace::reedsSheppPathType[1], -v, -u, -t);
@@ -387,7 +385,7 @@ void CCCC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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}
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if (
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LpRumLumRp(-x, -y, phi, t, u, v) &&
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L_min > (L = std::abs(t) + 2. * std::abs(u) + std::abs(v))) // time flip + reflect
388+
L_min > (std::abs(t) + 2. * std::abs(u) + std::abs(v))) // time flip + reflect
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{
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path = ReedsSheppStateSpace::ReedsSheppPath(
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ReedsSheppStateSpace::reedsSheppPathType[3], -t, -u, -u, -v);
@@ -545,7 +543,7 @@ void CCSC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath &
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}
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if (
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LpRmSmRm(-xb, -yb, phi, t, u, v) &&
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L_min > (L = std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
546+
L_min > (std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
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{
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path = ReedsSheppStateSpace::ReedsSheppPath(
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ReedsSheppStateSpace::reedsSheppPathType[11], -v, -u, .5 * pi, -t);
@@ -598,7 +596,7 @@ void CCSCC(double x, double y, double phi, ReedsSheppStateSpace::ReedsSheppPath
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}
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if (
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LpRmSLmRp(-x, -y, phi, t, u, v) &&
601-
L_min > (L = std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
599+
L_min > (std::abs(t) + std::abs(u) + std::abs(v))) // time flip + reflect
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{
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path = ReedsSheppStateSpace::ReedsSheppPath(
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ReedsSheppStateSpace::reedsSheppPathType[17], -t, .5 * pi, -u, .5 * pi, -v);

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