fix redundant condition

Author: mitukou1109

planning/autoware_obstacle_cruise_planner/src/node.cpp

@@ -557,9 +557,7 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms
   const auto objects_ptr = objects_sub_.takeData();
   const auto pointcloud_ptr = use_pointcloud_ ? pointcloud_sub_.takeData() : nullptr;
   const auto acc_ptr = acc_sub_.takeData();
-  if (
-    !ego_odom_ptr || (!objects_ptr && (!use_pointcloud_ || (use_pointcloud_ && !pointcloud_ptr))) ||
-    !acc_ptr) {
+  if (!ego_odom_ptr || (!objects_ptr && (!use_pointcloud_ || !pointcloud_ptr)) || !acc_ptr) {
     return;
   }