fix(autoware_behavior_velocity_intersection_module): fix bugprone-bra…

…nch-clone (#9702) fix: bugprone-error Signed-off-by: kobayu858 <[email protected]>
autowarefoundation · Dec 27, 2024 · 869cf4c · 869cf4c
1 parent 2035873
commit 869cf4c
Showing 1 changed file with 2 additions and 9 deletions.
diff --git a/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -354,9 +354,7 @@ DecisionResult IntersectionModule::modifyPathVelocityDetail(PathWithLaneId * pat
         (std::fabs(dist_stopline) < planner_param_.common.stopline_overshoot_margin);
       const bool over_stopline = (dist_stopline < 0.0);
       const bool is_stopped_duration = planner_data_->isVehicleStopped(duration);
-      if (over_stopline) {
-        state_machine.setState(StateMachine::State::GO);
-      } else if (is_stopped_duration && approached_dist_stopline) {
+      if (over_stopline || (is_stopped_duration && approached_dist_stopline)) {
         state_machine.setState(StateMachine::State::GO);
       }
       return state_machine.getState() == StateMachine::State::GO;
@@ -367,12 +365,7 @@ DecisionResult IntersectionModule::modifyPathVelocityDetail(PathWithLaneId * pat
       (std::fabs(dist_stopline) < planner_param_.common.stopline_overshoot_margin);
     const bool over_stopline = (dist_stopline < -planner_param_.common.stopline_overshoot_margin);
     const bool is_stopped = planner_data_->isVehicleStopped(duration);
-    if (over_stopline) {
-      return true;
-    } else if (is_stopped && approached_dist_stopline) {
-      return true;
-    }
-    return false;
+    return over_stopline || (is_stopped && approached_dist_stopline);
   };
 
   const auto occlusion_wo_tl_pass_judge_line_idx =