@@ -172,10 +172,7 @@ SamplingPlannerModule::SamplingPlannerModule(
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bool SamplingPlannerModule::isExecutionRequested () const
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{
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- const auto & p = planner_data_->parameters ;
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const auto ego_pose = planner_data_->self_odometry ->pose .pose ;
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- const auto goal_pose = planner_data_->route_handler ->getGoalPose ();
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-
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lanelet::ConstLanelet current_lane;
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if (!planner_data_->route_handler ->getClosestLaneletWithinRoute (ego_pose, ¤t_lane)) {
@@ -184,31 +181,6 @@ bool SamplingPlannerModule::isExecutionRequested() const
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" failed to find closest lanelet within route!!!" );
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return false ;
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}
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- const auto current_lane_sequence = planner_data_->route_handler ->getLaneletSequence (
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- current_lane, ego_pose, p.backward_path_length , p.forward_path_length );
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- // expand drivable lanes
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- std::vector<DrivableLanes> drivable_lanes{};
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-
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- std::for_each (
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- current_lane_sequence.begin (), current_lane_sequence.end (), [&](const auto & lanelet) {
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- drivable_lanes.push_back (generateExpandDrivableLanes (lanelet, planner_data_));
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- });
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-
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- lanelet::ConstLanelets current_lanes;
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-
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- for (auto & d : drivable_lanes) {
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- current_lanes.push_back (d.right_lane );
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- current_lanes.push_back (d.left_lane );
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- current_lanes.insert (current_lanes.end (), d.middle_lanes .begin (), d.middle_lanes .end ());
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- }
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- lanelet::ConstLanelet closest_lanelet_to_ego;
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- lanelet::utils::query::getClosestLanelet (current_lanes, ego_pose, &closest_lanelet_to_ego);
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- lanelet::ConstLanelet closest_lanelet_to_goal;
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- lanelet::utils::query::getClosestLanelet (current_lanes, goal_pose, &closest_lanelet_to_goal);
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- const bool ego_and_goal_on_same_lanelet =
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- closest_lanelet_to_goal.id () == closest_lanelet_to_ego.id ();
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-
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- if (!ego_and_goal_on_same_lanelet) return false ;
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if (getPreviousModuleOutput ().reference_path .points .empty ()) {
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return false ;
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