diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index d61654c32af02..57541ec732fe6 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -24,7 +24,7 @@
 #include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
-#include <autoware_lanelet2_extension/utility/query.hpp>
+#include <autoware_lanelet2_extension/utility/query.hpp>:
 
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_traffic_rules/TrafficRulesFactory.h>
@@ -585,9 +585,7 @@ void SimplePlanningSimulator::set_input(const InputCommand & cmd, const double a
   std::visit(
     [this, acc_by_slope](auto && arg) {
       using T = std::decay_t<decltype(arg)>;
-      if constexpr (std::is_same_v<T, Control>) {
-        set_input(arg, acc_by_slope);
-      } else if constexpr (std::is_same_v<T, ActuationCommandStamped>) {
+      if constexpr (std::is_same_v<T, Control> || std::is_same_v<T, ActuationCommandStamped>) {
         set_input(arg, acc_by_slope);
       } else {
         throw std::invalid_argument("Invalid input command type");
@@ -640,7 +638,7 @@ void SimplePlanningSimulator::set_input(const Control & cmd, const double acc_by
     input << vel, steer;
   } else if (  // NOLINT
     vehicle_model_type_ == VehicleModelType::IDEAL_STEER_ACC ||
-    vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC) {
+    vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC) {  // NOLINT
     input << combined_acc, steer;
   } else if (  // NOLINT
     vehicle_model_type_ == VehicleModelType::IDEAL_STEER_ACC_GEARED ||