refactor(behavior_velocity_no_stopping_area_module): cppcheck warnings (

#6986) * remove redundant if branch Signed-off-by: Ryuta Kambe <[email protected]> * remove unused variable Signed-off-by: Ryuta Kambe <[email protected]> * remove redundant initialization Signed-off-by: Ryuta Kambe <[email protected]> --------- Signed-off-by: Ryuta Kambe <[email protected]>
autowarefoundation · May 21, 2024 · 982b5c9 · 982b5c9
1 parent aa8767b
commit 982b5c9
Showing 1 changed file with 2 additions and 7 deletions.
diff --git a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
@@ -87,12 +87,8 @@ boost::optional<LineString2d> NoStoppingAreaModule::getStopLineGeometry2d(
         const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}};
         std::vector<Point2d> collision_points;
         bg::intersection(area_poly, line, collision_points);
-        if (collision_points.empty()) {
-          continue;
-        }
-        const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
         if (!collision_points.empty()) {
-          geometry_msgs::msg::Point left_point;
+          const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
           const double w = planner_data_->vehicle_info_.vehicle_width_m;
           const double l = stop_line_margin;
           stop_line.emplace_back(
@@ -306,7 +302,6 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
 
   const int num_ignore_nearest = 1;  // Do not consider nearest lane polygon
   size_t ego_area_start_idx = closest_idx + num_ignore_nearest;
-  size_t ego_area_end_idx = ego_area_start_idx;
   // return if area size is not intentional
   if (no_stopping_area_reg_elem_.noStoppingAreas().size() != 1) {
     return ego_area;
@@ -330,7 +325,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
   }
   double dist_from_area_sum = 0.0;
   // decide end idx with extract distance
-  ego_area_end_idx = ego_area_start_idx;
+  size_t ego_area_end_idx = ego_area_start_idx;
   for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) {
     dist_from_start_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
     const auto & p = pp.at(i).point.pose.position;