navigator: minor

source/armarx/navigation/components/navigator/Component.cpp

@@ -56,7 +56,7 @@
 #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
 
-#include "ArmarXGui/libraries/RemoteGui/Client/Widgets.h"
+#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
 #include <RobotAPI/components/ArViz/Client/Client.h>
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>

source/armarx/navigation/local_planning/TebObstacleManager.cpp

@@ -39,7 +39,7 @@ namespace armarx::navigation::local_planning
         obst->finalizePolygon();
         container.push_back(obst);
 
-        if (visLayer)
+        if (visLayer != nullptr)
         {
             const Eigen::Vector3f min3d = conv::fromRos(min);
             const Eigen::Vector3f max3d = conv::fromRos(max);
@@ -58,7 +58,7 @@ namespace armarx::navigation::local_planning
     {
         auto proxemicZones = proxemics.createProxemicZones(human);
 
-        for (auto& proxemicZone : proxemicZones)
+        for (const auto& proxemicZone : proxemicZones)
         {
             auto pose = conv::toRos(proxemicZone.pose);
             auto shape = conv::toRos(proxemicZone.shape);
@@ -67,7 +67,7 @@ namespace armarx::navigation::local_planning
             auto obst = boost::make_shared<teb_local_planner::extension::EllipseObstacle>(
                 pose.position(), pose.theta(), shape.a, shape.b);
 
-            auto& penalty = proxemicZone.penalty;
+            const auto& penalty = proxemicZone.penalty;
 
             obst->setPenaltyModel(boost::make_shared<teb_local_planner::ExponentialPenaltyModel>(
                 teb_local_planner::LinearPenaltyModel(penalty.minDistance, penalty.epsilon),
@@ -83,7 +83,7 @@ namespace armarx::navigation::local_planning
 
             container.push_back(obst);
 
-            if (visLayer)
+            if (visLayer != nullptr)
             {
                 const Eigen::Vector3f axisLength(proxemicZone.shape.a, proxemicZone.shape.b, 0);
                 const core::Pose pose3d = conv::to3D(human.pose);