Limiting the scope of variables moveit#874

Limited the scope of variables in moveit_core/collision_detection
Shobuj-Paul · Sep 5, 2023 · 72aac61 · 72aac61
1 parent 84421ea
commit 72aac61
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/moveit_core/collision_detection/src/collision_common.cpp b/moveit_core/collision_detection/src/collision_common.cpp
@@ -44,7 +44,6 @@ namespace collision_detection
 {
 void CollisionResult::print() const
 {
-  rclcpp::Clock clock;
   if (!contacts.empty())
   {
 #pragma GCC diagnostic push

diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
@@ -98,13 +98,13 @@ int collision_detection::refineContactNormals(const World::ObjectConstPtr& objec
       continue;
     }
 
-    double cell_size = 0;
     if (!object->shapes_.empty())
     {
       const shapes::ShapeConstPtr& shape = object->shapes_[0];
       const std::shared_ptr<const shapes::OcTree> shape_octree = std::dynamic_pointer_cast<const shapes::OcTree>(shape);
       if (shape_octree)
       {
+        double cell_size = 0;
         std::shared_ptr<const octomap::OcTree> octree = shape_octree->octree;
         cell_size = octree->getResolution();
         for (auto& contact_info : contact_vector)
@@ -174,7 +174,6 @@ bool getMetaballSurfaceProperties(const octomap::point3d_list& cloud, const doub
                                   const double& r_multiple, const octomath::Vector3& contact_point,
                                   octomath::Vector3& normal, double& depth, const bool estimate_depth)
 {
-  double intensity;
   if (estimate_depth)
   {
     octomath::Vector3 surface_point;
@@ -191,6 +190,7 @@ bool getMetaballSurfaceProperties(const octomap::point3d_list& cloud, const doub
   else  // just get normals, no depth
   {
     octomath::Vector3 gradient;
+    double intensity;
     if (sampleCloud(cloud, spacing, r_multiple, contact_point, intensity, gradient))
     {
       normal = gradient.normalized();
@@ -211,18 +211,17 @@ bool findSurface(const octomap::point3d_list& cloud, const double& spacing, cons
                  const double& r_multiple, const octomath::Vector3& seed, octomath::Vector3& surface_point,
                  octomath::Vector3& normal)
 {
-  const double epsilon = 1e-10;
-  const int iterations = 10;
-  double intensity = 0;
-
   octomath::Vector3 p = seed, dp, gs;
+  const int iterations = 10;
   for (int i = 0; i < iterations; ++i)
   {
+    double intensity = 0;
     if (!sampleCloud(cloud, spacing, r_multiple, p, intensity, gs))
       return false;
     const double s = iso_value - intensity;
     dp = (gs * -s) * (1.0 / std::max(gs.dot(gs), epsilon));
     p = p + dp;
+    const double epsilon = 1e-10;
     if (dp.dot(dp) < epsilon)
     {
       surface_point = p;