From 19cfe956d178131f283200cb7a7df2f43cedbf58 Mon Sep 17 00:00:00 2001
From: Uwe <donovaly@users.noreply.github.com>
Date: Sun, 19 Jun 2022 18:24:36 +0200
Subject: [PATCH] [Robot] remove unnecessary Boolean comparisons

---
 src/Mod/Robot/App/Trajectory.cpp                    | 4 ++--
 src/Mod/Robot/App/kdl_cp/treeiksolverpos_online.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/Mod/Robot/App/Trajectory.cpp b/src/Mod/Robot/App/Trajectory.cpp
index 1e5a9eb855..11bc706c76 100644
--- a/src/Mod/Robot/App/Trajectory.cpp
+++ b/src/Mod/Robot/App/Trajectory.cpp
@@ -194,7 +194,7 @@ void Trajectory::generateTrajectory(void)
                         pcRoundComp->Add(Next);
                         // end a continuous block
                     }
-                    else if (Cont == false && pcRoundComp) {
+                    else if (!Cont && pcRoundComp) {
                         // add the last one
                         pcRoundComp->Add(Next);
                         pcRoundComp->Finish();
@@ -203,7 +203,7 @@ void Trajectory::generateTrajectory(void)
 
                         // normal block
                     }
-                    else if (Cont == false && !pcRoundComp) {
+                    else if (!Cont && !pcRoundComp) {
                         KDL::Path* pcPath;
                         pcPath = new KDL::Path_Line(Last,
                             Next,
diff --git a/src/Mod/Robot/App/kdl_cp/treeiksolverpos_online.cpp b/src/Mod/Robot/App/kdl_cp/treeiksolverpos_online.cpp
index 3e3d1318d4..e0e228ef6d 100644
--- a/src/Mod/Robot/App/kdl_cp/treeiksolverpos_online.cpp
+++ b/src/Mod/Robot/App/kdl_cp/treeiksolverpos_online.cpp
@@ -143,7 +143,7 @@ void TreeIkSolverPos_Online::enforceJointVelLimits()
   }
 
   // scales q_out, if one joint exceeds the maximum value
-  if ( max_exceeded == true )
+  if (max_exceeded)
   {
     Multiply(q_dot_, ( 1.0 / ( 1.0 + rel_os_max ) ), q_dot_);
   }