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Commit cb222a7

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delete unnecessary pointsToRays function
Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
1 parent 03da908 commit cb222a7

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planning/behavior_velocity_occlusion_spot_module/src/grid_utils.cpp

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Original file line numberDiff line numberDiff line change
@@ -43,23 +43,6 @@ Polygon2d pointsToPoly(const Point2d p0, const Point2d p1, const double radius)
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return line_poly;
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}
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std::vector<std::pair<grid_map::Position, grid_map::Position>> pointsToRays(
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const grid_map::Position p0, const grid_map::Position p1, const double radius)
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{
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using grid_map::Position;
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std::vector<std::pair<Position, Position>> lines;
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const double angle = atan2(p0.y() - p1.y(), p0.x() - p1.x());
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const double r = radius;
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lines.emplace_back(std::make_pair(p0, p1));
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lines.emplace_back(std::make_pair(
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Position(p0.x() + r * sin(angle), p0.y() - r * cos(angle)),
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Position(p1.x() + r * sin(angle), p1.y() - r * cos(angle))));
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lines.emplace_back(std::make_pair(
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Position(p1.x() - r * sin(angle), p1.y() + r * cos(angle)),
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Position(p0.x() - r * sin(angle), p0.y() + r * cos(angle))));
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return lines;
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}
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void findOcclusionSpots(
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std::vector<grid_map::Position> & occlusion_spot_positions, const grid_map::GridMap & grid,
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const Polygon2d & polygon, [[maybe_unused]] double min_size)

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