delete departure check lanes

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

Author: danielsanchezaran

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/shift_pull_out.hpp

@@ -50,11 +50,6 @@ class ShiftPullOut : public PullOutPlannerBase
     ShiftedPath & shifted_path, const Pose & start_pose, const Pose & end_pose,
     const double longitudinal_acc, const double lateral_acc);
 
-  void setDepartureCheckLanes(const lanelet::ConstLanelets & departure_check_lanes)
-  {
-    departure_check_lanes_ = departure_check_lanes;
-  }
-
   std::shared_ptr<LaneDepartureChecker> lane_departure_checker_;
 
 private:
@@ -63,8 +58,6 @@ class ShiftPullOut : public PullOutPlannerBase
   double calcPullOutLongitudinalDistance(
     const double lon_acc, const double shift_time, const double shift_length,
     const double max_curvature, const double min_distance) const;
-
-  lanelet::ConstLanelets departure_check_lanes_;
 };
 }  // namespace behavior_path_planner
 

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp

@@ -275,7 +275,6 @@ class StartPlannerModule : public SceneModuleInterface
     const std::vector<PoseWithVelocityStamped> & ego_predicted_path) const;
   bool isSafePath() const;
   void setDrivableAreaInfo(BehaviorModuleOutput & output) const;
-  void updateDepartureCheckLanes();
   lanelet::ConstLanelets createDepartureCheckLanes() const;
 
   // check if the goal is located behind the ego in the same route segment.

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -142,7 +142,6 @@ void StartPlannerModule::initVariables()
   info_marker_.markers.clear();
   initializeSafetyCheckParameters();
   initializeCollisionCheckDebugMap(debug_data_.collision_check);
-  updateDepartureCheckLanes();
 }
 
 void StartPlannerModule::updateEgoPredictedPathParams(
@@ -608,7 +607,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
 void StartPlannerModule::resetStatus()
 {
   status_ = PullOutStatus{};
-  updateDepartureCheckLanes();
 }
 
 void StartPlannerModule::incrementPathIndex()
@@ -1409,22 +1407,6 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
   }
 }
 
-void StartPlannerModule::updateDepartureCheckLanes()
-{
-  const auto departure_check_lanes = createDepartureCheckLanes();
-  for (auto & planner : start_planners_) {
-    auto shift_pull_out = std::dynamic_pointer_cast<ShiftPullOut>(planner);
-
-    if (shift_pull_out) {
-      shift_pull_out->setDepartureCheckLanes(departure_check_lanes);
-    }
-  }
-  // debug
-  {
-    debug_data_.departure_check_lanes = departure_check_lanes;
-  }
-}
-
 lanelet::ConstLanelets StartPlannerModule::createDepartureCheckLanes() const
 {
   const double backward_path_length =