fix(radar_object_tracker): fix duplicateBranch warning

Signed-off-by: Ryuta Kambe <[email protected]>
autowarefoundation · Jun 26, 2024 · 7787016 · 7787016
1 parent b67a6c3
commit 7787016
Showing 1 changed file with 13 additions and 15 deletions.
diff --git a/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp
@@ -138,21 +138,19 @@ LinearMotionTracker::LinearMotionTracker(
     P_v_xy = R * P_v_xy_local * R.transpose();
   }
   // acceleration covariance often written in object frame
-  const bool has_acceleration_covariance =
-    false;  // currently message does not have acceleration covariance
-  if (has_acceleration_covariance) {
-    // const auto ax_cov =
-    //   object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::X_X]; // This
-    //   is future update
-    // const auto ay_cov =
-    //   object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::Y_Y]; // This
-    //   is future update
-    //  Eigen::Matrix2d P_a_xy_local;
-    //  P_a_xy_local << ax_cov, 0.0, 0.0, ay_cov;
-    P_a_xy = R * P_a_xy_local * R.transpose();
-  } else {
-    P_a_xy = R * P_a_xy_local * R.transpose();
-  }
+  // if message has acceleration covariance,
+  // ```
+  // const auto ax_cov =
+  //  object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::X_X];
+  //  // This is future update
+  // const auto ay_cov =
+  //  object.kinematics.acceleration_with_covariance.covariance[utils::MSG_COV_IDX::Y_Y];
+  //  // This is future update
+  // Eigen::Matrix2d P_a_xy_local;
+  // P_a_xy_local << ax_cov, 0.0, 0.0, ay_cov;
+  // P_a_xy = R * P_a_xy_local * R.transpose();
+  // ```
+  P_a_xy = R * P_a_xy_local * R.transpose();
 
   // put value in P matrix
   // use block description. This assume x,y,vx,vy,ax,ay in this order