another refactor

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

Author: danielsanchezaran

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -360,20 +360,17 @@ bool StartPlannerModule::isStopped()
 
 bool StartPlannerModule::isExecutionReady() const
 {
-  bool is_safe = true;
   // Evaluate safety. The situation is not safe if any of the following conditions are met:
   // 1. pull out path has not been found
   // 2. there is a moving objects around ego
   // 3. waiting for approval and there is a collision with dynamic objects
-  if (!status_.found_pull_out_path) {
-    is_safe = false;
-  } else if (isWaitingApproval()) {
-    if (!noMovingObjectsAround()) {
-      is_safe = false;
-    } else if (requiresDynamicObjectsCollisionDetection() && hasCollisionWithDynamicObjects()) {
-      is_safe = false;
-    }
-  }
+
+  const bool is_safe = [&]() -> bool {
+    if (!status_.found_pull_out_path) return false;
+    if (!isWaitingApproval()) return true;
+    if (!noMovingObjectsAround()) return false;
+    return !(requiresDynamicObjectsCollisionDetection() && hasCollisionWithDynamicObjects());
+  }();
 
   if (!is_safe) {
     stop_pose_ = planner_data_->self_odometry->pose.pose;