bug: unused function get_goal_lanelet() remaining

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
autowarefoundation · Mar 10, 2025 · c95effc · c95effc
1 parent d1f52ae
commit c95effc
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diff --git a/planning/autoware_path_generator/include/autoware/path_generator/utils.hpp b/planning/autoware_path_generator/include/autoware/path_generator/utils.hpp
@@ -213,13 +213,6 @@ PathWithLaneId refine_path_for_goal(
 std::optional<lanelet::ConstLanelets> extract_lanelets_from_path(
   const PathWithLaneId & refined_path, const PlannerData & planner_data);
 
-/**
- * @brief Get the goal lanelet.
- * @param planner_data Planner data.
- * @return Goal lanelet (std::nullopt if not found)
- */
-std::optional<lanelet::ConstLanelet> get_goal_lanelet(const PlannerData & planner_data);
-
 /**
  * @brief Check if the pose is in the lanelets.
  * @param pose Pose.

diff --git a/planning/autoware_path_generator/src/utils.cpp b/planning/autoware_path_generator/src/utils.cpp
@@ -534,17 +534,6 @@ std::optional<lanelet::ConstLanelets> extract_lanelets_from_path(
   return refined_path_lanelets;
 }
 
-std::optional<lanelet::ConstLanelet> get_goal_lanelet(const PlannerData & planner_data)
-{
-  const lanelet::Id goal_lane_id = planner_data.preferred_lanelets.back().id();
-  for (const auto & llt : planner_data.route_lanelets) {
-    if (llt.id() == goal_lane_id) {
-      return llt;
-    }
-  }
-  return std::nullopt;
-}
-
 bool is_in_lanelets(const geometry_msgs::msg::Pose & pose, const lanelet::ConstLanelets & lanes)
 {
   for (const auto & lane : lanes) {