refactor

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
autowarefoundation · Mar 6, 2025 · c558c3f · c558c3f
1 parent 7d8359a
commit c558c3f
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Showing 2 changed files with 3 additions and 11 deletions.
diff --git a/...autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/...autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
@@ -68,12 +68,7 @@ bool VoxelBasedApproximateDynamicMapLoader::is_close_to_map(
 
   const int index = map_cell_voxel_grid.getCentroidIndexAt(
     map_cell_voxel_grid.getGridCoordinates(point.x, point.y, point.z));
-  if (index == -1) {
-    return false;
-  } else {
-    return true;
-  }
-  return false;
+  return (index != -1);
 }
 
 VoxelBasedApproximateCompareMapFilterComponent::VoxelBasedApproximateCompareMapFilterComponent(

diff --git a/...on/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/...on/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
@@ -101,11 +101,8 @@ bool VoxelDistanceBasedDynamicMapLoader::is_close_to_map(
     map_cell_voxel_grid = current_voxel_grid_array_.at(map_grid_index)->map_cell_voxel_grid;
     map_cell_kdtree = current_voxel_grid_array_.at(map_grid_index)->map_cell_kdtree;
   }
-  if (is_close_to_neighbor_voxels(
-        point, distance_threshold, map_cell_voxel_grid, map_cell_kdtree)) {
-    return true;
-  }
-  return false;
+  return is_close_to_neighbor_voxels(
+    point, distance_threshold, map_cell_voxel_grid, map_cell_kdtree);
 }
 
 VoxelDistanceBasedCompareMapFilterComponent::VoxelDistanceBasedCompareMapFilterComponent(