diff --git a/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp b/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
index 1029e52c72d..f12219ffcf4 100644
--- a/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
+++ b/soccer/src/soccer/planning/planner/line_kick_path_planner.cpp
@@ -13,8 +13,8 @@ using namespace rj_geometry;
 namespace planning {
 
 Trajectory LineKickPathPlanner::plan(const PlanRequest& plan_request) {
-    if (plan_request.play_state_ == PlayState::halt() ||
-        plan_request.play_state_ == PlayState::stop()) {
+    if (plan_request.play_state == PlayState::halt() ||
+        plan_request.play_state == PlayState::stop()) {
         return Trajectory{};
     }
 
diff --git a/soccer/src/soccer/planning/planner/plan_request.hpp b/soccer/src/soccer/planning/planner/plan_request.hpp
index 80e0d8a184e..54eb9a0ffa5 100644
--- a/soccer/src/soccer/planning/planner/plan_request.hpp
+++ b/soccer/src/soccer/planning/planner/plan_request.hpp
@@ -41,7 +41,6 @@ struct PlanRequest {
           shell_id(shell_id),
           priority(priority),
           world_state(world_state),
-          play_state_(play_state),
           play_state(play_state),
           debug_drawer(debug_drawer),
           ball_sense(ball_sense),