From 9d796bacf766fcc898c0cf714a1d58ef9d1e922a Mon Sep 17 00:00:00 2001 From: mraditya01 Date: Wed, 12 Feb 2025 13:33:55 +0900 Subject: [PATCH] fixed variable const --- .../src/geometry/buffer.cpp | 55 +++++++++---------- 1 file changed, 26 insertions(+), 29 deletions(-) diff --git a/common/autoware_universe_utils/src/geometry/buffer.cpp b/common/autoware_universe_utils/src/geometry/buffer.cpp index cfb24b9821685..9642c12a21d08 100644 --- a/common/autoware_universe_utils/src/geometry/buffer.cpp +++ b/common/autoware_universe_utils/src/geometry/buffer.cpp @@ -28,8 +28,6 @@ namespace offset_buffer Polygon2d dissolve(const Polygon2d & polygon) { - StopWatch sw; - auto extended_poly = polygon_clip::create_extended_polygon(polygon); auto polygon_vector = polygon_clip::construct_self_intersecting_polygons(extended_poly); @@ -38,8 +36,8 @@ Polygon2d dissolve(const Polygon2d & polygon) } void create_arc( - Polygon2d & vertices, const Point2d & center, double radius, const Point2d & end_vertex, - const Point2d & start_vertex_next, double segments) + Polygon2d & vertices, const Point2d & center, const double radius, const Point2d & end_vertex, + const Point2d & start_vertex_next, const double segments) { const double PI2 = M_PI * 2; double start_angle = @@ -49,46 +47,45 @@ void create_arc( if (start_angle < 0) start_angle += PI2; if (end_angle < 0) end_angle += PI2; - double angle_diff = + const double angle_diff = ((start_angle > end_angle) ? (start_angle - end_angle) : (start_angle + PI2 - end_angle)); - if (angle_diff < 0) angle_diff += PI2; int dynamic_segments = static_cast(segments * (angle_diff / PI2)); if (dynamic_segments < 1) dynamic_segments = 1; - double segment_angle = angle_diff / dynamic_segments; + const double segment_angle = angle_diff / dynamic_segments; for (int i = 0; i <= dynamic_segments; ++i) { - double angle = end_angle + i * segment_angle; - double x = center.x() + radius * cos(angle); - double y = center.y() + radius * sin(angle); + const double angle = end_angle + i * segment_angle; + const double x = center.x() + radius * cos(angle); + const double y = center.y() + radius * sin(angle); vertices.outer().push_back(Point2d(x, y)); } } void offset_segment( - Polygon2d & vertices, const Point2d & v1, const Point2d & v2, const Point2d & next_vertex, - double dist, double segments) + Polygon2d& vertices, const Point2d& v1, const Point2d& v2, const Point2d& next_vertex, + const double dist, const double segments) { // Calculate direction and normals - double dx = v2.x() - v1.x(); - double dy = v2.y() - v1.y(); - - double length = std::sqrt(dx * dx + dy * dy); - double normal_x = -dy / length; - double normal_y = dx / length; - - Point2d offset_v1(v1.x() - normal_x * dist, v1.y() - normal_y * dist); - Point2d offset_v2(v2.x() - normal_x * dist, v2.y() - normal_y * dist); - - double next_dx = next_vertex.x() - v2.x(); - double next_dy = next_vertex.y() - v2.y(); - double length_next = std::sqrt(next_dx * next_dx + next_dy * next_dy); - double normal_x_next = -next_dy / length_next; - double normal_y_next = next_dx / length_next; - Point2d offset_v1next(v2.x() - normal_x_next * dist, v2.y() - normal_y_next * dist); - Point2d offset_v2next( + const double dx = v2.x() - v1.x(); + const double dy = v2.y() - v1.y(); + + const double length = std::sqrt(dx * dx + dy * dy); + const double normal_x = -dy / length; + const double normal_y = dx / length; + + const Point2d offset_v1(v1.x() - normal_x * dist, v1.y() - normal_y * dist); + const Point2d offset_v2(v2.x() - normal_x * dist, v2.y() - normal_y * dist); + + const double next_dx = next_vertex.x() - v2.x(); + const double next_dy = next_vertex.y() - v2.y(); + const double length_next = std::sqrt(next_dx * next_dx + next_dy * next_dy); + const double normal_x_next = -next_dy / length_next; + const double normal_y_next = next_dx / length_next; + const Point2d offset_v1next(v2.x() - normal_x_next * dist, v2.y() - normal_y_next * dist); + const Point2d offset_v2next( next_vertex.x() - normal_x_next * dist, next_vertex.y() - normal_y_next * dist); double current_angle = atan2(dy, dx);