return code moved to end

Shigekazu Fukuta · Shigekazu Fukuta · commit f0041d3374df · 2024-05-09T14:16:24.000+09:00
diff --git a/planning/obstacle_avoidance_planner/src/utils.cpp b/planning/obstacle_avoidance_planner/src/utils.cpp
@@ -343,6 +343,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
   const auto monotonic_base_yaw = convertEulerAngleToMonotonic(base_yaw);
 
   // spline interpolation
+  std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;
   try {
     const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);
     const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);
@@ -354,7 +355,6 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
       }
     }
 
-    std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;
     for (size_t i = 0; i < interpolated_x.size(); i++) {
       autoware_auto_planning_msgs::msg::TrajectoryPoint point;
       point.pose.position.x = interpolated_x[i];
@@ -364,10 +364,10 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
       interpolated_points.push_back(point);
     }
 
-    return interpolated_points;
   } catch (const std::invalid_argument & e) {
     return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};
   }
+  return interpolated_points;
 }
 
 std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> getInterpolatedTrajectoryPoints(

Original file line number	Diff line number	Diff line change
`@@ -343,6 +343,7 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj`
`343`	`343`	`const auto monotonic_base_yaw = convertEulerAngleToMonotonic(base_yaw);`
`344`	`344`
`345`	`345`	`// spline interpolation`
	`346`	`+ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;`
`346`	`347`	`try {`
`347`	`348`	`const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);`
`348`	`349`	`const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);`
`@@ -354,7 +355,6 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj`
`354`	`355`	`}`
`355`	`356`	`}`
`356`	`357`
`357`		`- std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;`
`358`	`358`	`for (size_t i = 0; i < interpolated_x.size(); i++) {`
`359`	`359`	`autoware_auto_planning_msgs::msg::TrajectoryPoint point;`
`360`	`360`	`point.pose.position.x = interpolated_x[i];`
`@@ -364,10 +364,10 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj`
`364`	`364`	`interpolated_points.push_back(point);`
`365`	`365`	`}`
`366`	`366`
`367`		`- return interpolated_points;`
`368`	`367`	`} catch (const std::invalid_argument & e) {`
`369`	`368`	`return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};`
`370`	`369`	`}`
	`370`	`+ return interpolated_points;`
`371`	`371`	`}`
`372`	`372`
`373`	`373`	`std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> getInterpolatedTrajectoryPoints(`