fix(probabilistic_occupancy_grid_map): fix knownConditionTrueFalse wa…

…rning (#7619) Signed-off-by: Ryuta Kambe <[email protected]>
autowarefoundation · Jun 22, 2024 · a54b73e · a54b73e
1 parent 3900cbe
commit a54b73e
Showing 1 changed file with 3 additions and 10 deletions.
diff --git a/...upancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/...upancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
@@ -225,11 +225,9 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
 
       if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
-        if (!no_visible_point_beyond) {
-          raytrace(
-            source.wx, source.wy, source.projected_wx, source.projected_wy,
-            occupancy_cost_value::NO_INFORMATION);
-        }
+        raytrace(
+          source.wx, source.wy, source.projected_wx, source.projected_wy,
+          occupancy_cost_value::NO_INFORMATION);
         continue;
       }
 
@@ -238,11 +236,6 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
         obstacle_pointcloud_angle_bin.at(dist_index).range);
       if (next_obstacle_point_distance <= obstacle_separation_threshold_) {
         continue;
-      } else if (no_visible_point_beyond) {
-        const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
-        const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1);
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
-        continue;
       }
 
       auto next_raw_distance =