From 84cb65920cff918e75c0af61451318bee2c309c2 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 26 Sep 2022 09:55:47 +0200
Subject: [PATCH] minor fixes (code style)
---
.../navigation/local_planning/TimedElasticBands.cpp | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.cpp b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
index 8f86171a..86f63c95 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.cpp
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
@@ -221,10 +221,16 @@ namespace armarx::navigation::local_planning
void
TimedElasticBands::setTebCostmap()
{
- if (!scene.staticScene)
+ if (not scene.staticScene.has_value())
+ {
return;
- if (!scene.staticScene->distanceToObstaclesCostmap)
+ }
+
+ if (not scene.staticScene->distanceToObstaclesCostmap.has_value())
+ {
return;
+ }
+
const algorithms::Costmap& navigationCostmap =
scene.staticScene->distanceToObstaclesCostmap.value();
teb_costmap.emplace(conv::toRos(navigationCostmap));
--
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