Simplify condition

tier4 · Apr 18, 2024 · 745ba9d · 745ba9d
1 parent 99f7276
commit 745ba9d
Showing 1 changed file with 5 additions and 9 deletions.
diff --git a/...on/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp b/...on/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp
@@ -46,17 +46,13 @@ const std::vector<std::string> OccupancyGridSensorBase::getDetectedObjects(
   std::vector<std::string> detected_entities;
   const auto pose = getSensorPose(status);
   for (const auto & s : status) {
-    if (const auto has_detected =
-          std::find(lidar_detected_entities.begin(), lidar_detected_entities.end(), s.name()) !=
-          lidar_detected_entities.end();
-        !has_detected) {
-      continue;
-    }
-
-    double distance = std::hypot(
+    const bool has_detected =
+      std::find(lidar_detected_entities.begin(), lidar_detected_entities.end(), s.name()) !=
+      lidar_detected_entities.end();
+    const double distance = std::hypot(
       s.pose().position().x() - pose.position().x(), s.pose().position().y() - pose.position().y(),
       s.pose().position().z() - pose.position().z());
-    if (s.name() != configuration_.entity() && distance <= configuration_.range()) {
+    if (has_detected && s.name() != configuration_.entity() && distance <= configuration_.range()) {
       detected_entities.emplace_back(s.name());
     }
   }