fix(autoware_behavior_velocity_intersection_module): fix shadowFuncti…

…on (autowarefoundation#7835) * fix(autoware_behavior_velocity_intersection_module): fix shadowFunction Signed-off-by: Ryuta Kambe <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
NorahXiong · Jul 4, 2024 · 3abdced · 3abdced
1 parent 3d3118a
commit 3abdced
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Showing 2 changed files with 5 additions and 10 deletions.
diff --git a/...city_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp b/...city_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp
@@ -48,11 +48,10 @@ void IntersectionLanelets::update(
  }
  }
  if (first_attention_lane_ && !second_attention_lane_ && !second_attention_lane_empty_) {
- const auto first_attention_lane = first_attention_lane_.value();
  // remove first_attention_area_ and non-straight lanelets from attention_non_preceding
  lanelet::ConstLanelets attention_non_preceding_ex_first;
  lanelet::ConstLanelets sibling_first_attention_lanelets;
- for (const auto & previous : routing_graph_ptr->previous(first_attention_lane)) {
+ for (const auto & previous : routing_graph_ptr->previous(first_attention_lane_.value())) {
  for (const auto & following : routing_graph_ptr->following(previous)) {
  sibling_first_attention_lanelets.push_back(following);
  }

diff --git a/...or_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/...or_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp
@@ -137,11 +137,9 @@ bool ObjectInfo::can_stop_before_stopline(const double brake_deceleration) const
  if (!dist_to_stopline_opt) {
  return false;
  }
- const double observed_velocity =
- predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x;
+ const double velocity = predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x;
  const double dist_to_stopline = dist_to_stopline_opt.value();
- const double braking_distance =
- (observed_velocity * observed_velocity) / (2.0 * brake_deceleration);
+ const double braking_distance = (velocity * velocity) / (2.0 * brake_deceleration);
  return dist_to_stopline > braking_distance;
 }
 
@@ -153,10 +151,8 @@ bool ObjectInfo::can_stop_before_ego_lane(
  return false;
  }
  const double dist_to_stopline = dist_to_stopline_opt.value();
- const double observed_velocity =
- predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x;
- const double braking_distance =
- (observed_velocity * observed_velocity) / (2.0 * brake_deceleration);
+ const double velocity = predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x;
+ const double braking_distance = (velocity * velocity) / (2.0 * brake_deceleration);
  if (dist_to_stopline > braking_distance) {
  return false;
  }