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refactor(route_handler): remove unused functions in route_handler (#7012)
remove unused functions in route_handler
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planning/route_handler/include/route_handler/route_handler.hpp

-77
Original file line numberDiff line numberDiff line change
@@ -205,54 +205,6 @@ class RouteHandler
205205
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false,
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const bool get_shoulder_lane = false) const;
207207

208-
/**
209-
* @brief Searches the furthest linestring to the right side of the lanelet
210-
* Only lanelet with same direction is considered
211-
* @param the lanelet of interest
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* @return right most linestring of the lane with same direction
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*/
214-
lanelet::ConstLineString3d getRightMostSameDirectionLinestring(
215-
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;
216-
217-
/**
218-
* @brief Searches the furthest linestring to the right side of the lanelet
219-
* Used to search for road shoulders. Lane direction is ignored
220-
* @param the lanelet of interest
221-
* @return right most linestring
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*/
223-
lanelet::ConstLineString3d getRightMostLinestring(
224-
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;
225-
226-
/**
227-
* @brief Searches the furthest linestring to the left side of the lanelet
228-
* Only lanelet with same direction is considered
229-
* @param the lanelet of interest
230-
* @return left most linestring of the lane with same direction
231-
*/
232-
lanelet::ConstLineString3d getLeftMostSameDirectionLinestring(
233-
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;
234-
235-
/**
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* @brief Searches the furthest linestring to the left side of the lanelet
237-
* Used to search for road shoulders. Lane direction is ignored
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* @param the lanelet of interest
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* @return left most linestring
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*/
241-
lanelet::ConstLineString3d getLeftMostLinestring(
242-
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;
243-
244-
/**
245-
* @brief Return furthest linestring on both side of the lanelet
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* @param the lanelet of interest
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* @param (optional) search furthest right side
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* @param (optional) search furthest left side
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* @param (optional) include opposite lane as well
250-
* @return right and left linestrings
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*/
252-
lanelet::ConstLineStrings3d getFurthestLinestring(
253-
const lanelet::ConstLanelet & lanelet, bool is_right = true, bool is_left = true,
254-
bool is_opposite = true, bool enable_same_root = false) const noexcept;
255-
256208
/**
257209
* Retrieves a sequence of lanelets before the given lanelet.
258210
* The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence
@@ -276,18 +228,6 @@ class RouteHandler
276228
int getNumLaneToPreferredLane(
277229
const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const;
278230

279-
/**
280-
* Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return
281-
* the distance to the preferred lane from the give lane.
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* The total distance is computed from the front point of the centerline of the given lane to
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* the front point of the preferred lane.
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* @param lanelet lanelet to query
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* @param direction change direction
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* @return number of lanes from input to the preferred lane
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*/
288-
double getTotalLateralDistanceToPreferredLane(
289-
const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const;
290-
291231
/**
292232
* Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return
293233
* the distance to the preferred lane from the give lane.
@@ -321,11 +261,6 @@ class RouteHandler
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const lanelet::ConstLanelet & lanelet, const Pose & pose,
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const double backward_distance = std::numeric_limits<double>::max(),
323263
const double forward_distance = std::numeric_limits<double>::max()) const;
324-
lanelet::ConstLanelets getCheckTargetLanesFromPath(
325-
const PathWithLaneId & path, const lanelet::ConstLanelets & target_lanes,
326-
const double check_length) const;
327-
lanelet::routing::RelationType getRelation(
328-
const lanelet::ConstLanelet & prev_lane, const lanelet::ConstLanelet & next_lane) const;
329264
bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const;
330265
bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const;
331266
bool isRoadLanelet(const lanelet::ConstLanelet & lanelet) const;
@@ -339,22 +274,16 @@ class RouteHandler
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const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const;
340275
std::optional<lanelet::ConstLanelet> getLaneChangeTargetExceptPreferredLane(
341276
const lanelet::ConstLanelets & lanelets, const Direction direction) const;
342-
bool getRightLaneChangeTargetExceptPreferredLane(
343-
const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const;
344-
bool getLeftLaneChangeTargetExceptPreferredLane(
345-
const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const;
346277
std::optional<lanelet::ConstLanelet> getPullOverTarget(const Pose & goal_pose) const;
347278
std::optional<lanelet::ConstLanelet> getPullOutStartLane(
348279
const Pose & pose, const double vehicle_width) const;
349-
double getLaneChangeableDistance(const Pose & current_pose, const Direction & direction) const;
350280
lanelet::ConstLanelets getRoadLaneletsAtPose(const Pose & pose) const;
351281
std::optional<lanelet::ConstLanelet> getLeftShoulderLanelet(
352282
const lanelet::ConstLanelet & lanelet) const;
353283
std::optional<lanelet::ConstLanelet> getRightShoulderLanelet(
354284
const lanelet::ConstLanelet & lanelet) const;
355285
lanelet::ConstLanelets getShoulderLaneletsAtPose(const Pose & pose) const;
356286
lanelet::ConstPolygon3d getIntersectionAreaById(const lanelet::Id id) const;
357-
bool isPreferredLane(const lanelet::ConstLanelet & lanelet) const;
358287

359288
private:
360289
// MUST
@@ -385,8 +314,6 @@ class RouteHandler
385314
lanelet::ConstLanelets getMainLanelets(const lanelet::ConstLanelets & path_lanelets) const;
386315

387316
// for lanelet
388-
bool isInTargetLane(const PoseStamped & pose, const lanelet::ConstLanelets & target) const;
389-
bool isInPreferredLane(const PoseStamped & pose) const;
390317
bool isBijectiveConnection(
391318
const lanelet::ConstLanelets & lanelet_section1,
392319
const lanelet::ConstLanelets & lanelet_section2) const;
@@ -419,17 +346,13 @@ class RouteHandler
419346
const double min_length = std::numeric_limits<double>::max()) const;
420347
lanelet::ConstLanelets getPreviousLaneletSequence(
421348
const lanelet::ConstLanelets & lanelet_sequence) const;
422-
lanelet::ConstLanelets getLaneChangeTargetLanes(const Pose & pose) const;
423349
lanelet::ConstLanelets getLaneSequenceUpTo(const lanelet::ConstLanelet & lanelet) const;
424350
lanelet::ConstLanelets getLaneSequenceAfter(const lanelet::ConstLanelet & lanelet) const;
425351
lanelet::ConstLanelets getLaneSequence(const lanelet::ConstLanelet & lanelet) const;
426352
lanelet::ConstLanelets getNeighborsWithinRoute(const lanelet::ConstLanelet & lanelet) const;
427-
std::vector<lanelet::ConstLanelets> getLaneSection(const lanelet::ConstLanelet & lanelet) const;
428-
lanelet::ConstLanelets getNextLaneSequence(const lanelet::ConstLanelets & lane_sequence) const;
429353

430354
// for path
431355

432-
PathWithLaneId updatePathTwist(const PathWithLaneId & path) const;
433356
/**
434357
* @brief Checks if a path has a no_drivable_lane or not
435358
* @param path lanelet path

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