From c558c3f15ecf3e308fb0cc5c1e20da75d0d1eb87 Mon Sep 17 00:00:00 2001 From: badai-nguyen Date: Fri, 7 Mar 2025 05:39:13 +0900 Subject: [PATCH] refactor Signed-off-by: badai-nguyen --- .../voxel_based_approximate_compare_map_filter/node.cpp | 7 +------ .../src/voxel_distance_based_compare_map_filter/node.cpp | 7 ++----- 2 files changed, 3 insertions(+), 11 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp index 499f5b41ac550..16953a3d4a7f6 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp @@ -68,12 +68,7 @@ bool VoxelBasedApproximateDynamicMapLoader::is_close_to_map( const int index = map_cell_voxel_grid.getCentroidIndexAt( map_cell_voxel_grid.getGridCoordinates(point.x, point.y, point.z)); - if (index == -1) { - return false; - } else { - return true; - } - return false; + return (index != -1); } VoxelBasedApproximateCompareMapFilterComponent::VoxelBasedApproximateCompareMapFilterComponent( diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp index 35aa093e24e13..2bcd4ba7c2fc2 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp @@ -101,11 +101,8 @@ bool VoxelDistanceBasedDynamicMapLoader::is_close_to_map( map_cell_voxel_grid = current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid; map_cell_kdtree = current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree; } - if (is_close_to_neighbor_voxels( - point, distance_threshold, map_cell_voxel_grid, map_cell_kdtree)) { - return true; - } - return false; + return is_close_to_neighbor_voxels( + point, distance_threshold, map_cell_voxel_grid, map_cell_kdtree); } VoxelDistanceBasedCompareMapFilterComponent::VoxelDistanceBasedCompareMapFilterComponent(