fix(autoware_obstacle_cruise_planner): fix shadowVariable warning (au…

…towarefoundation#7656) * fix(autoware_obstacle_cruise_planner): fix shadowVariable warning Signed-off-by: Koichi Imai <[email protected]> * fix Signed-off-by: Koichi Imai <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Koichi Imai <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tby-udel · Jul 14, 2024 · 5e9bddb · 5e9bddb
1 parent dacf1e3
commit 5e9bddb
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -509,7 +509,6 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::getAccelerationLimitedTrajectory(
   const double v0, const double a0, const double target_acc, const double target_jerk_ratio) const
 {
   // calculate vt function
-  const auto & i = longitudinal_info_;
   const auto vt = [&](
                     const double v0, const double a0, const double jerk, const double t,
                     const double target_acc) {
@@ -541,8 +540,8 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::getAccelerationLimitedTrajectory(
   //       Therefore, we calculate v1 (velocity at next step) and use it for initial velocity.
   const double v1 = v0;  // + 0.1;  // a0 * 0.1;  //  + jerk * 0.1 * 0.1 / 2.0;
   const double a1 = a0;  //  + jerk * 0.1;
-  const double jerk =
-    target_acc > a1 ? i.max_jerk * target_jerk_ratio : i.min_jerk * target_jerk_ratio;
+  const double jerk = target_acc > a1 ? longitudinal_info_.max_jerk * target_jerk_ratio
+                                      : longitudinal_info_.min_jerk * target_jerk_ratio;
 
   double t_current = 0.0;
   std::vector<double> s_vec{0.0};