fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#…

…9654) fix: bugprone-error Signed-off-by: kobayu858 <[email protected]>
autowarefoundation · Dec 16, 2024 · a85c67b · a85c67b
1 parent 932e87f
commit a85c67b
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Showing 2 changed files with 5 additions and 9 deletions.
diff --git a/perception/autoware_radar_fusion_to_detected_object/src/node.cpp b/perception/autoware_radar_fusion_to_detected_object/src/node.cpp
@@ -25,7 +25,6 @@ using namespace std::literals;
 using std::chrono::duration;
 using std::chrono::duration_cast;
 using std::chrono::nanoseconds;
-using std::placeholders::_1;
 
 namespace
 {
@@ -58,7 +57,7 @@ RadarObjectFusionToDetectedObjectNode::RadarObjectFusionToDetectedObjectNode(
 {
   // Parameter Server
   set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&RadarObjectFusionToDetectedObjectNode::onSetParam, this, _1));
+    std::bind(&RadarObjectFusionToDetectedObjectNode::onSetParam, this, std::placeholders::_1));
 
   // Node Parameter
   node_param_.update_rate_hz = declare_parameter<double>("node_params.update_rate_hz");
@@ -93,11 +92,10 @@ RadarObjectFusionToDetectedObjectNode::RadarObjectFusionToDetectedObjectNode(
   sub_object_.subscribe(this, "~/input/objects", rclcpp::QoS{1}.get_rmw_qos_profile());
   sub_radar_.subscribe(this, "~/input/radars", rclcpp::QoS{1}.get_rmw_qos_profile());
 
-  using std::placeholders::_1;
-  using std::placeholders::_2;
   sync_ptr_ = std::make_shared<Sync>(SyncPolicy(20), sub_object_, sub_radar_);
-  sync_ptr_->registerCallback(
-    std::bind(&RadarObjectFusionToDetectedObjectNode::onData, this, _1, _2));
+  sync_ptr_->registerCallback(std::bind(
+    &RadarObjectFusionToDetectedObjectNode::onData, this, std::placeholders::_1,
+    std::placeholders::_2));
 
   // Publisher
   pub_objects_ = create_publisher<DetectedObjects>("~/output/objects", 1);

diff --git a/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/autoware_radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
@@ -158,9 +158,7 @@ bool RadarFusionToDetectedObject::isYawCorrect(
   const double object_yaw = autoware::universe_utils::normalizeRadian(
     tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation));
   const double diff_yaw = autoware::universe_utils::normalizeRadian(twist_yaw - object_yaw);
-  if (std::abs(diff_yaw) < yaw_threshold) {
-    return true;
-  } else if (M_PI - yaw_threshold < std::abs(diff_yaw)) {
+  if (std::abs(diff_yaw) < yaw_threshold || M_PI - yaw_threshold < std::abs(diff_yaw)) {
     return true;
   } else {
     return false;