refactor(utils): remove unnecessary drivable area generation

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Aug 3, 2023 · 228e43e · 228e43e
1 parent 48e10b5
commit 228e43e
Showing 1 changed file with 0 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -2785,10 +2785,6 @@ BehaviorModuleOutput getReferencePath(
     shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset,
     dp.drivable_area_types_to_skip);
 
-  // for old architecture
-  generateDrivableArea(
-    reference_path, expanded_lanes, false, false, p.vehicle_length, planner_data);
-
   BehaviorModuleOutput output;
   output.path = std::make_shared<PathWithLaneId>(reference_path);
   output.reference_path = std::make_shared<PathWithLaneId>(reference_path);