refactor(localization_util): apply static analysis

[a-maumau]

Description

This PR applies some suggestions from the linter to localization/localization_util.

Fixed:

• remove meaningless conditions
• (removed unused codes in test)

the notion "style: Variable 'ex' can be..." from cppcheck is fixed in #7278

Tests performed

Checked with clang-tidy and cppcheck (v2.14.1)

check_linter.sh

#!/bin/bash
set -eux

TARGET_DIR=$1

current_dir=$(basename $(pwd))
if [[ ! $current_dir =~ ^(autoware|pilot-auto) ]]; then
    echo "This script must be run in a directory with a prefix of autoware or pilot-auto."
    exit 1
fi

set +eux
export CPLUS_INCLUDE_PATH=/usr/include/c++/11:/usr/include/x86_64-linux-gnu/c++/11:$CPLUS_INCLUDE_PATH
set -eux

fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} cpplint {}
fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} clang-tidy -p build/ {}

---

Before fixing the code:

output from above commands

$ ./check_linter.sh localization_util
...
9505 warnings generated.
Suppressed 9507 warnings (9505 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
30971 warnings generated.
30906 warnings generated.
Suppressed 30919 warnings (30906 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
31734 warnings generated.
Suppressed 31747 warnings (31734 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
30933 warnings generated.
Suppressed 30946 warnings (30933 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
32362 warnings generated.
Suppressed 32396 warnings (32362 in non-user code, 34 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
61942 warnings generated.
Suppressed 61968 warnings (61942 in non-user code, 26 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

Check with cppcheck:

output

$cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive . -I ../ndt_scan_matcher/src/*

Checking src/smart_pose_buffer.cpp ...
1/6 files checked 6% done
Checking src/util_func.cpp ...
src/util_func.cpp:31:16: style: Condition 'x>0.25' is always true [knownConditionTrueFalse]
  } else if (x > 0.25 && x <= 0.5) {
               ^
src/util_func.cpp:27:9: note: Assuming condition 'x<=0.25' is false
  if (x <= 0.25) {
        ^
src/util_func.cpp:31:16: note: Condition 'x>0.25' is always true
  } else if (x > 0.25 && x <= 0.5) {
               ^
2/6 files checked 17% done
Checking test/test_smart_pose_buffer.cpp ...
3/6 files checked 22% done
Checking ../ndt_scan_matcher/src/map_update_module.cpp ...
4/6 files checked 35% done
Checking ../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp ...
../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:647:38: style: Variable 'ex' can be declared as reference to const [constVariableReference]
  } catch (tf2::TransformException & ex) {
                                     ^
Checking ../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp: ROS_DISTRO_GALACTIC...
5/6 files checked 96% done
Checking ../ndt_scan_matcher/src/particle.cpp ...
6/6 files checked 100% done
test/test_smart_pose_buffer.cpp:48:0: style: The function 'SetUp' is never used. [unusedFunction]
  void SetUp() override {}
^
test/test_smart_pose_buffer.cpp:50:0: style: The function 'TearDown' is never used. [unusedFunction]
  void TearDown() override {}

---

After this PR:

Check with check_linter.sh (no change)

Check with cppcheck:

cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive . -I ../ndt_scan_matcher/src/*

Checking src/smart_pose_buffer.cpp ...
1/6 files checked 6% done
Checking src/util_func.cpp ...
2/6 files checked 17% done
Checking test/test_smart_pose_buffer.cpp ...
3/6 files checked 22% done
Checking ../ndt_scan_matcher/src/map_update_module.cpp ...
4/6 files checked 34% done
Checking ../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp ...
../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:647:38: style: Variable 'ex' can be declared as reference to const [constVariableReference]
  } catch (tf2::TransformException & ex) {
                                     ^
Checking ../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp: ROS_DISTRO_GALACTIC...
5/6 files checked 96% done
Checking ../ndt_scan_matcher/src/particle.cpp ...
6/6 files checked 100% done

Effects on system behavior

Not applicable.

Interface changes

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[SakodaShintaro]

Thanks!
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