From 9b926e29e01b78232030e04da3f93a0962ca4511 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 22 Jul 2024 16:46:18 +0900 Subject: [PATCH] fix(autoware_freespace_planning_algorithms): fix shadowVariable (#7949) * fix:shadowVariable Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 * fix:shadowVariable Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/astar_search.cpp | 18 ++++++++++-------- .../src/rrtstar_core.cpp | 8 ++++---- 2 files changed, 14 insertions(+), 12 deletions(-) diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index 1902b7aa2d091..1a75c8277ebfd 100644 --- 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 index 7403afd37e295..853d9ef0a9787 100644 --- 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; } }