fix(autoware_behavior_path_goal_planner_module): fix unusedFunction (a…

…utowarefoundation#8786) fix:unusedFunction Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
leo-drive · Sep 13, 2024 · 07a850d · 07a850d
1 parent 335fb3a
commit 07a850d
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diff --git a/...vior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/...vior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
@@ -51,14 +51,6 @@ lanelet::ConstLanelets getPullOverLanes(
   const RouteHandler & route_handler, const bool left_side, const double backward_distance,
   const double forward_distance);
 
-/*
- * @brief expand pull_over_lanes to the opposite side of drivable roads by bound_offset.
- * bound_offset must be positive regardless of left_side is true/false
- */
-lanelet::ConstLanelets generateExpandedPullOverLanes(
-  const RouteHandler & route_handler, const bool left_side, const double backward_distance,
-  const double forward_distance, const double bound_offset);
-
 lanelet::ConstLanelets generateBetweenEgoAndExpandedPullOverLanes(
   const lanelet::ConstLanelets & pull_over_lanes, const bool left_side,
   const geometry_msgs::msg::Pose ego_pose,
@@ -77,9 +69,6 @@ std::optional<Polygon2d> generateObjectExtractionPolygon(
   const lanelet::ConstLanelets & pull_over_lanes, const bool left_side, const double outer_offset,
   const double inner_offset);
 
-PredictedObjects extractObjectsInExpandedPullOverLanes(
-  const RouteHandler & route_handler, const bool left_side, const double backward_distance,
-  const double forward_distance, double bound_offset, const PredictedObjects & objects);
 PredictedObjects filterObjectsByLateralDistance(
   const Pose & ego_pose, const double vehicle_width, const PredictedObjects & objects,
   const double distance_thresh, const bool filter_inside);

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp
@@ -79,17 +79,6 @@ lanelet::ConstLanelets getPullOverLanes(
     outermost_lane, backward_distance_with_buffer, forward_distance, only_route_lanes);
 }
 
-lanelet::ConstLanelets generateExpandedPullOverLanes(
-  const RouteHandler & route_handler, const bool left_side, const double backward_distance,
-  const double forward_distance, const double bound_offset)
-{
-  const auto pull_over_lanes =
-    getPullOverLanes(route_handler, left_side, backward_distance, forward_distance);
-
-  return left_side ? lanelet::utils::getExpandedLanelets(pull_over_lanes, bound_offset, 0.0)
-                   : lanelet::utils::getExpandedLanelets(pull_over_lanes, 0.0, -bound_offset);
-}
-
 static double getOffsetToLanesBoundary(
   const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose target_pose,
   const bool left_side)
@@ -260,21 +249,6 @@ std::optional<Polygon2d> generateObjectExtractionPolygon(
   return polygon;
 }
 
-PredictedObjects extractObjectsInExpandedPullOverLanes(
-  const RouteHandler & route_handler, const bool left_side, const double backward_distance,
-  const double forward_distance, double bound_offset, const PredictedObjects & objects)
-{
-  const auto lanes = generateExpandedPullOverLanes(
-    route_handler, left_side, backward_distance, forward_distance, bound_offset);
-
-  const auto [objects_in_lanes, others] = utils::path_safety_checker::separateObjectsByLanelets(
-    objects, lanes, [](const auto & obj, const auto & lanelet, const auto yaw_threshold) {
-      return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lanelet, yaw_threshold);
-    });
-
-  return objects_in_lanes;
-}
-
 PredictedObjects filterObjectsByLateralDistance(
   const Pose & ego_pose, const double vehicle_width, const PredictedObjects & objects,
   const double distance_thresh, const bool filter_inside)