diff --git a/local_pathfinding/ompl_path.py b/local_pathfinding/ompl_path.py
index 7e29417..4210ad6 100644
--- a/local_pathfinding/ompl_path.py
+++ b/local_pathfinding/ompl_path.py
@@ -89,12 +89,12 @@ def get_waypoints(self) -> List[HelperLatLon]:
             return []
 
         solution_path = self._simple_setup.getSolutionPath()
-        referenceLatlon = cs.LatLon(*self.state.goal_state)
+        reference_latlon = cs.LatLon(*self.state.goal_state)
         waypoints = []
 
         for state in solution_path.getStates():
-            waypoint_XY = cs.XY(*(state.getX(), state.getY()))
-            waypoint_latlon = cs.xy_to_latlon(referenceLatlon, waypoint_XY)
+            waypoint_XY = cs.XY(state.getX(), state.getY())
+            waypoint_latlon = cs.xy_to_latlon(reference_latlon, waypoint_XY)
             waypoints.append(
                 HelperLatLon(
                     latitude=waypoint_latlon.latitude, longitude=waypoint_latlon.longitude