From a3a73d9a5d82b59aa516dcdd7f5bda0a08e57fa6 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Wed, 11 Sep 2024 12:44:50 -0700
Subject: [PATCH] use more concise unwrap_or() for default roll-pitch-yaw

---
 tf_roslibrust/src/bin/publisher.rs | 24 +++---------------------
 1 file changed, 3 insertions(+), 21 deletions(-)

diff --git a/tf_roslibrust/src/bin/publisher.rs b/tf_roslibrust/src/bin/publisher.rs
index d882becc..8ec29978 100644
--- a/tf_roslibrust/src/bin/publisher.rs
+++ b/tf_roslibrust/src/bin/publisher.rs
@@ -54,27 +54,9 @@ fn get_transforms(filename: &str) -> Result<tf2_msgs::TFMessage, anyhow::Error>
             transform.transform.translation.z = z;
         }
 
-        let roll = {
-            if let Some(roll) = tfr.roll {
-                roll
-            } else {
-                0.0
-            }
-        };
-        let pitch = {
-            if let Some(pitch) = tfr.pitch {
-                pitch
-            } else {
-                0.0
-            }
-        };
-        let yaw = {
-            if let Some(yaw) = tfr.yaw {
-                yaw
-            } else {
-                0.0
-            }
-        };
+        let roll = tfr.roll.unwrap_or(0.0);
+        let pitch = tfr.pitch.unwrap_or(0.0);
+        let yaw = tfr.yaw.unwrap_or(0.0);
 
         let unit_quat = nalgebra::UnitQuaternion::from_euler_angles(roll, pitch, yaw);
         let quat = unit_quat.quaternion();