fix(autoware_freespace_planning_algorithms): fix shadowVariable (auto…

…warefoundation#7949) * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
esteve · Aug 13, 2024 · 9b926e2 · 9b926e2
1 parent 75be16f
commit 9b926e2
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Showing 2 changed files with 14 additions and 12 deletions.
diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
@@ -294,14 +294,16 @@ void AstarSearch::setPath(const AstarNode & goal_node)
   const AstarNode * node = &goal_node;
 
   // push exact goal pose first
-  geometry_msgs::msg::PoseStamped pose;
-  pose.header = header;
-  pose.pose = local2global(costmap_, goal_pose_);
-
-  PlannerWaypoint pw;
-  pw.pose = pose;
-  pw.is_back = node->is_back;
-  waypoints_.waypoints.push_back(pw);
+  {
+    geometry_msgs::msg::PoseStamped pose;
+    pose.header = header;
+    pose.pose = local2global(costmap_, goal_pose_);
+
+    PlannerWaypoint pw;
+    pw.pose = pose;
+    pw.is_back = node->is_back;
+    waypoints_.waypoints.push_back(pw);
+  }
 
   // push astar nodes poses
   while (node != nullptr) {

diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar_core.cpp
@@ -183,17 +183,17 @@ void RRTStar::extend()
     // This cannot be inside if(is_reached){...} because we must update this anytime after rewiring
     // takes place
     double cost_min = inf;
-    NodeSharedPtr node_best_parent;
+    NodeSharedPtr reached_node_best_parent;
     for (const auto & node : reached_nodes_) {
       const double cost = *(node->cost_from_start) + *(node->cost_to_goal);
       if (cost < cost_min) {
         cost_min = cost;
-        node_best_parent = node;
+        reached_node_best_parent = node;
       }
     }
     node_goal_->cost_from_start = cost_min;
-    node_goal_->parent = node_best_parent;
-    node_goal_->cost_to_parent = node_best_parent->cost_to_goal;
+    node_goal_->parent = reached_node_best_parent;
+    node_goal_->cost_to_parent = reached_node_best_parent->cost_to_goal;
   }
 }