@@ -130,11 +130,11 @@ std::optional<bool> isDrivingForwardWithTwist(const T & points_with_twist)
130130 if (points_with_twist.size () == 1 ) {
131131 if (0.0 < tier4_autoware_utils::getLongitudinalVelocity (points_with_twist.front ())) {
132132 return true ;
133- } else if (0.0 > tier4_autoware_utils::getLongitudinalVelocity (points_with_twist.front ())) {
133+ }
134+ if (0.0 > tier4_autoware_utils::getLongitudinalVelocity (points_with_twist.front ())) {
134135 return false ;
135- } else {
136- return std::nullopt;
137136 }
137+ return std::nullopt;
138138 }
139139
140140 return isDrivingForward (points_with_twist);
@@ -401,12 +401,12 @@ double calcLongitudinalOffsetToSegment(
401401 const bool throw_exception = false )
402402{
403403 if (seg_idx >= points.size () - 1 ) {
404- const std::out_of_range e ( " Segment index is invalid." ) ;
404+ const auto error_message{ " Segment index is invalid." } ;
405405 tier4_autoware_utils::print_backtrace ();
406406 if (throw_exception) {
407- throw e ;
407+ throw std::out_of_range (error_message) ;
408408 }
409- std::cerr << e. what () << std::endl;
409+ std::cerr << error_message << std::endl;
410410 return std::nan (" "
411411 }
412412
@@ -424,12 +424,12 @@ double calcLongitudinalOffsetToSegment(
424424 }
425425
426426 if (seg_idx >= overlap_removed_points.size () - 1 ) {
427- const std::runtime_error e ( " Same points are given." ) ;
427+ const auto error_message{ " Same points are given." } ;
428428 tier4_autoware_utils::print_backtrace ();
429429 if (throw_exception) {
430- throw e ;
430+ throw std::runtime_error (error_message) ;
431431 }
432- std::cerr << e. what () << std::endl;
432+ std::cerr << error_message << std::endl;
433433 return std::nan (" "
434434 }
435435
@@ -581,12 +581,12 @@ double calcLateralOffset(
581581 }
582582
583583 if (overlap_removed_points.size () == 1 ) {
584- const std::runtime_error e ( " Same points are given." ) ;
584+ const auto error_message{ " Same points are given." } ;
585585 tier4_autoware_utils::print_backtrace ();
586586 if (throw_exception) {
587- throw e ;
587+ throw std::runtime_error (error_message) ;
588588 }
589- std::cerr << e. what () << std::endl;
589+ std::cerr << error_message << std::endl;
590590 return std::nan (" "
591591 }
592592
@@ -643,12 +643,12 @@ double calcLateralOffset(
643643 }
644644
645645 if (overlap_removed_points.size () == 1 ) {
646- const std::runtime_error e ( " Same points are given." ) ;
646+ const auto error_message{ " Same points are given." } ;
647647 tier4_autoware_utils::print_backtrace ();
648648 if (throw_exception) {
649- throw e ;
649+ throw std::runtime_error (error_message) ;
650650 }
651- std::cerr << e. what () << std::endl;
651+ std::cerr << error_message << std::endl;
652652 return std::nan (" "
653653 }
654654
@@ -968,17 +968,17 @@ std::vector<std::pair<double, double>> calcCurvatureAndArcLength(const T & point
968968{
969969 // Note that arclength is for the segment, not the sum.
970970 std::vector<std::pair<double , double >> curvature_arc_length_vec;
971- curvature_arc_length_vec.push_back ( std::pair ( 0.0 , 0.0 ) );
971+ curvature_arc_length_vec.emplace_back ( 0.0 , 0.0 );
972972 for (size_t i = 1 ; i < points.size () - 1 ; ++i) {
973973 const auto p1 = tier4_autoware_utils::getPoint (points.at (i - 1 ));
974974 const auto p2 = tier4_autoware_utils::getPoint (points.at (i));
975975 const auto p3 = tier4_autoware_utils::getPoint (points.at (i + 1 ));
976976 const double curvature = tier4_autoware_utils::calcCurvature (p1, p2, p3);
977977 const double arc_length = tier4_autoware_utils::calcDistance2d (points.at (i - 1 ), points.at (i)) +
978978 tier4_autoware_utils::calcDistance2d (points.at (i), points.at (i + 1 ));
979- curvature_arc_length_vec.push_back ( std::pair ( curvature, arc_length) );
979+ curvature_arc_length_vec.emplace_back ( curvature, arc_length);
980980 }
981- curvature_arc_length_vec.push_back ( std::pair ( 0.0 , 0.0 ) );
981+ curvature_arc_length_vec.emplace_back ( 0.0 , 0.0 );
982982
983983 return curvature_arc_length_vec;
984984}
@@ -1046,12 +1046,12 @@ std::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
10461046 }
10471047
10481048 if (points.size () - 1 < src_idx) {
1049- const auto e = std::out_of_range ( " Invalid source index" ) ;
1049+ const auto error_message{ " Invalid source index" } ;
10501050 tier4_autoware_utils::print_backtrace ();
10511051 if (throw_exception) {
1052- throw e ;
1052+ throw std::out_of_range (error_message) ;
10531053 }
1054- std::cerr << e. what () << std::endl;
1054+ std::cerr << error_message << std::endl;
10551055 return {};
10561056 }
10571057
@@ -1171,12 +1171,12 @@ std::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
11711171 }
11721172
11731173 if (points.size () - 1 < src_idx) {
1174- const auto e = std::out_of_range ( " Invalid source index" ) ;
1174+ const auto error_message{ " Invalid source index" } ;
11751175 tier4_autoware_utils::print_backtrace ();
11761176 if (throw_exception) {
1177- throw e ;
1177+ throw std::out_of_range (error_message) ;
11781178 }
1179- std::cerr << e. what () << std::endl;
1179+ std::cerr << error_message << std::endl;
11801180 return {};
11811181 }
11821182
@@ -2041,9 +2041,8 @@ size_t findFirstNearestIndexWithSoftConstraints(
20412041 if (squared_dist_threshold < squared_dist || yaw_threshold < std::abs (yaw)) {
20422042 if (is_within_constraints) {
20432043 break ;
2044- } else {
2045- continue ;
20462044 }
2045+ continue ;
20472046 }
20482047
20492048 if (min_squared_dist <= squared_dist) {
@@ -2073,9 +2072,8 @@ size_t findFirstNearestIndexWithSoftConstraints(
20732072 if (squared_dist_threshold < squared_dist) {
20742073 if (is_within_constraints) {
20752074 break ;
2076- } else {
2077- continue ;
20782075 }
2076+ continue ;
20792077 }
20802078
20812079 if (min_squared_dist <= squared_dist) {
@@ -2386,12 +2384,12 @@ double calcYawDeviation(
23862384 }
23872385
23882386 if (overlap_removed_points.size () <= 1 ) {
2389- const std::runtime_error e ( " points size is less than 2" ) ;
2387+ const auto error_message{ " points size is less than 2" } ;
23902388 tier4_autoware_utils::print_backtrace ();
23912389 if (throw_exception) {
2392- throw e ;
2390+ throw std::runtime_error (error_message) ;
23932391 }
2394- std::cerr << e. what () << std::endl;
2392+ std::cerr << error_message << std::endl;
23952393 return 0.0 ;
23962394 }
23972395
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