Optional to reduce branching

Signed-off-by: Krzysztof Rymski <[email protected]>
o3de · Jul 8, 2024 · 4cbb9a8 · 4cbb9a8
1 parent 20f4658
commit 4cbb9a8
Showing 1 changed file with 13 additions and 13 deletions.
diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp
@@ -200,16 +200,13 @@ namespace ROS2
             };
         };
 
-        auto HandleEntityId = [&message, &lastScanResults]() -> AZStd::function<unsigned char*(
+        auto HandleEntityId = [&message, &lastScanResults]() -> AZStd::optional<AZStd::function<unsigned char*(
             unsigned char* pointBeginPointer,
-            const size_t pointIdx)>
+            const size_t pointIdx)>>
         {
             if (!lastScanResults.m_ids.has_value())
             {
-                return [](unsigned char* pointBeginPointer, const size_t pointIdx)
-                {
-                    return pointBeginPointer;
-                };
+                return {};
             }
 
             sensor_msgs::msg::PointField pfId;
@@ -229,14 +226,11 @@ namespace ROS2
         };
 
         auto HandleClassAndClassColor = [&message, &lastScanResults,this](
-            ) -> AZStd::function<unsigned char*(unsigned char* pointBeginPointer, const size_t pointIdx)>
+            ) -> AZStd::optional<AZStd::function<unsigned char*(unsigned char* pointBeginPointer, const size_t pointIdx)>>
         {
             if (!lastScanResults.m_classes.has_value())
             {
-                return [](unsigned char* pointBeginPointer, const size_t pointIdx)
-                {
-                    return pointBeginPointer;
-                };
+                return {};
             }
 
             sensor_msgs::msg::PointField pfClassId;
@@ -276,8 +270,14 @@ namespace ROS2
         };
 
         pointFillers.emplace_back(HandleXYZ());
-        pointFillers.emplace_back(HandleEntityId());
-        pointFillers.emplace_back(HandleClassAndClassColor());
+        if(auto pointFiller = HandleEntityId())
+        {
+            pointFillers.emplace_back(pointFiller.value());
+        }
+        if (auto pointFiller = HandleClassAndClassColor())
+        {
+            pointFillers.emplace_back(pointFiller.value());
+        }
 
         const auto sizeInBytes = pointCount * message.point_step;
         message.data.resize(sizeInBytes);