refactor: simplify if condition

tier4 · Apr 16, 2024 · a47d4a7 · a47d4a7
1 parent 96ecbb3
commit a47d4a7
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Showing 3 changed files with 33 additions and 15 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -237,14 +237,20 @@ void Vlp16Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
 
               // Condition added to avoid calculating points which are not in the interesting
               // defined area (min_angle < area < max_angle).
-              if (
-                ((azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100 &&
+              const bool is_within_min_max_angle =
+                (azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100 &&
                  azimuth_corrected <= sensor_configuration_->cloud_max_angle * 100 &&
-                 sensor_configuration_->cloud_min_angle < sensor_configuration_->cloud_max_angle) ||
+                 sensor_configuration_->cloud_min_angle < sensor_configuration_->cloud_max_angle);
+
+              const bool is_outside_max_min_angle =
                 (sensor_configuration_->cloud_min_angle > sensor_configuration_->cloud_max_angle &&
                  (azimuth_corrected <= sensor_configuration_->cloud_max_angle * 100 ||
-                  azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100))) &&
-                !check_excluded_point(corrections.laser_ring, azimuth_corrected)) {
+                  azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100));
+
+              const bool is_not_excluded_point =
+                !check_excluded_point(corrections.laser_ring, azimuth_corrected);
+
+              if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {
                 // Convert polar coordinates to Euclidean XYZ.
                 const float cos_vert_angle = corrections.cos_vert_correction;
                 const float sin_vert_angle = corrections.sin_vert_correction;

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -194,14 +194,20 @@ void Vlp32Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_pa
         distance < sensor_configuration_->max_range) {
         /*condition added to avoid calculating points which are not
             in the interesting defined area (min_angle < area < max_angle)*/
-        if (
-          ((block.rotation >= sensor_configuration_->cloud_min_angle * 100 &&
+        const bool is_within_min_max_angle =
+          (block.rotation >= sensor_configuration_->cloud_min_angle * 100 &&
            block.rotation <= sensor_configuration_->cloud_max_angle * 100 &&
-           sensor_configuration_->cloud_min_angle < sensor_configuration_->cloud_max_angle) ||
+           sensor_configuration_->cloud_min_angle < sensor_configuration_->cloud_max_angle);
+
+        const bool is_outside_max_min_angle =
           (sensor_configuration_->cloud_min_angle > sensor_configuration_->cloud_max_angle &&
            (raw->blocks[i].rotation <= sensor_configuration_->cloud_max_angle * 100 ||
-            raw->blocks[i].rotation >= sensor_configuration_->cloud_min_angle * 100))) &&
-          !check_excluded_point(corrections.laser_ring, block.rotation)) {
+            raw->blocks[i].rotation >= sensor_configuration_->cloud_min_angle * 100));
+
+        const bool is_not_excluded_point =
+          !check_excluded_point(corrections.laser_ring, block.rotation);
+
+        if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {
           const float cos_vert_angle = corrections.cos_vert_correction;
           const float sin_vert_angle = corrections.sin_vert_correction;
           const float cos_rot_correction = corrections.cos_rot_correction;

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -258,14 +258,20 @@ void Vls128Decoder::unpack(const velodyne_msgs::msg::VelodynePacket & velodyne_p
             distance < sensor_configuration_->max_range) {
             // Condition added to avoid calculating points which are not in the interesting defined
             // area (cloud_min_angle < area < cloud_max_angle).
-            if (
-              ((azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100 &&
+            const bool is_within_min_max_angle =
+              (azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100 &&
                azimuth_corrected <= sensor_configuration_->cloud_max_angle * 100 &&
-               sensor_configuration_->cloud_min_angle < sensor_configuration_->cloud_max_angle) ||
+               sensor_configuration_->cloud_min_angle < sensor_configuration_->cloud_max_angle);
+
+            const bool is_outside_max_min_angle =
               (sensor_configuration_->cloud_min_angle > sensor_configuration_->cloud_max_angle &&
                (azimuth_corrected <= sensor_configuration_->cloud_max_angle * 100 ||
-                azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100))) &&
-              !check_excluded_point(corrections.laser_ring, azimuth_corrected)) {
+                azimuth_corrected >= sensor_configuration_->cloud_min_angle * 100));
+
+            const bool is_not_excluded_point =
+              !check_excluded_point(corrections.laser_ring, azimuth_corrected);
+
+            if ((is_within_min_max_angle || is_outside_max_min_angle) && is_not_excluded_point) {
               // convert polar coordinates to Euclidean XYZ.
               const float cos_vert_angle = corrections.cos_vert_correction;
               const float sin_vert_angle = corrections.sin_vert_correction;