Update costmap_2d/src/costmap_2d.cpp

Co-authored-by: Vincent SAMY <vincent.samy@rapyuta-robotics.com>
rapyuta-robotics · May 9, 2024 · 97af8ae · 97af8ae
1 parent bd48bbd
commit 97af8ae
Showing 1 changed file with 1 addition and 5 deletions.
diff --git a/costmap_2d/src/costmap_2d.cpp b/costmap_2d/src/costmap_2d.cpp
@@ -234,11 +234,7 @@ bool Costmap2D::worldToMapContinuous(double wx, double wy, float& mx, float& my)
   mx = static_cast<float>((wx - origin_x_) / resolution_) + 0.5f;
   my = static_cast<float>((wy - origin_y_) / resolution_) + 0.5f;
 
-  if (mx < size_x_ && my < size_y_)
-  {
-    return true;
-  }
-  return false;
+  return mx < size_x_ && my < size_y_;
 }
 
 void Costmap2D::worldToMapNoBounds(double wx, double wy, int& mx, int& my) const