refactor(static_drivable_area_expansion): remove unused arg

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Dec 31, 2023 · 3c46099 · 3c46099
1 parent f28caf7
commit 3c46099
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -225,8 +225,7 @@ void PlannerManager::generateCombinedDrivableArea(
   } else if (di.is_already_expanded) {
     // for single side shift
     utils::generateDrivableArea(
-      output.path, di.drivable_lanes, false, false, false, data->parameters.vehicle_length, data,
-      is_driving_forward);
+      output.path, di.drivable_lanes, false, false, false, data, is_driving_forward);
   } else {
     const auto shorten_lanes = utils::cutOverlappedLanes(output.path, di.drivable_lanes);
 
@@ -238,8 +237,8 @@ void PlannerManager::generateCombinedDrivableArea(
     // for other modules where multiple modules may be launched
     utils::generateDrivableArea(
       output.path, expanded_lanes, di.enable_expanding_hatched_road_markings,
-      di.enable_expanding_intersection_areas, di.enable_expanding_freespace_areas,
-      data->parameters.vehicle_length, data, is_driving_forward);
+      di.enable_expanding_intersection_areas, di.enable_expanding_freespace_areas, data,
+      is_driving_forward);
   }
 
   // extract obstacles from drivable area

diff --git a/...clude/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp b/...clude/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp
@@ -41,7 +41,7 @@ std::vector<DrivableLanes> getNonOverlappingExpandedLanes(
 void generateDrivableArea(
   PathWithLaneId & path, const std::vector<DrivableLanes> & lanes,
   const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas,
-  const bool enable_expanding_freespace_areas, const double vehicle_length,
+  const bool enable_expanding_freespace_areas,
   const std::shared_ptr<const PlannerData> planner_data, const bool is_driving_forward = true);
 
 void generateDrivableArea(

diff --git a/...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/...g/behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -729,7 +729,7 @@ std::vector<DrivableLanes> getNonOverlappingExpandedLanes(
 void generateDrivableArea(
   PathWithLaneId & path, const std::vector<DrivableLanes> & lanes,
   const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas,
-  const bool enable_expanding_freespace_areas, [[maybe_unused]] const double vehicle_length,
+  const bool enable_expanding_freespace_areas,
   const std::shared_ptr<const PlannerData> planner_data, const bool is_driving_forward)
 {
   if (path.points.empty()) {