refactor(behavior_path_planner): apply clang-tidy check (#7549)

* goal_planner Signed-off-by: Mamoru Sobue <[email protected]> * lane_change Signed-off-by: Mamoru Sobue <[email protected]> --------- Signed-off-by: Mamoru Sobue <[email protected]> Co-authored-by: Shumpei Wakabayashi <[email protected]>
autowarefoundation · Aug 19, 2024 · 7424c48 · 7424c48
1 parent 5dd947a
commit 7424c48
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/...ng/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/...ng/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp
@@ -207,7 +207,7 @@ void GoalSearcher::countObjectsToAvoid(
   const double backward_length = parameters_.backward_goal_search_length;
 
   // calculate search start/end pose in pull over lanes
-  const auto [search_start_pose, search_end_pose] = std::invoke([&]() -> std::pair<Pose, Pose> {
+  const auto search_start_end_poses = std::invoke([&]() -> std::pair<Pose, Pose> {
     const auto pull_over_lanes = goal_planner_utils::getPullOverLanes(
       *route_handler, left_side_parking_, parameters_.backward_goal_search_length,
       parameters_.forward_goal_search_length);
@@ -221,6 +221,8 @@ void GoalSearcher::countObjectsToAvoid(
     return std::make_pair(
       center_line_path.points.front().point.pose, center_line_path.points.back().point.pose);
   });
+  const auto search_start_pose = std::get<0>(search_start_end_poses);
+  const auto search_end_pose = std::get<1>(search_start_end_poses);
 
   // generate current lane center line path to check collision with objects
   const auto current_lanes = utils::getExtendedCurrentLanes(

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -92,8 +92,9 @@ double calcMinimumLaneChangeLength(
   }
 
   const auto min_vel = lane_change_parameters.minimum_lane_changing_velocity;
-  const auto [min_lat_acc, max_lat_acc] =
-    lane_change_parameters.lane_change_lat_acc_map.find(min_vel);
+  const auto min_max_lat_acc = lane_change_parameters.lane_change_lat_acc_map.find(min_vel);
+  // const auto min_lat_acc = std::get<0>(min_max_lat_acc);
+  const auto max_lat_acc = std::get<1>(min_max_lat_acc);
   const auto lat_jerk = lane_change_parameters.lane_changing_lateral_jerk;
   const auto finish_judge_buffer = lane_change_parameters.lane_change_finish_judge_buffer;