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delete departure check lanes
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
1 parent 3ca8fe5 commit 465951e

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3 files changed

+0
-26
lines changed

3 files changed

+0
-26
lines changed

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/shift_pull_out.hpp

-7
Original file line numberDiff line numberDiff line change
@@ -50,11 +50,6 @@ class ShiftPullOut : public PullOutPlannerBase
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ShiftedPath & shifted_path, const Pose & start_pose, const Pose & end_pose,
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const double longitudinal_acc, const double lateral_acc);
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53-
void setDepartureCheckLanes(const lanelet::ConstLanelets & departure_check_lanes)
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{
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departure_check_lanes_ = departure_check_lanes;
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}
57-
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std::shared_ptr<LaneDepartureChecker> lane_departure_checker_;
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private:
@@ -63,8 +58,6 @@ class ShiftPullOut : public PullOutPlannerBase
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double calcPullOutLongitudinalDistance(
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const double lon_acc, const double shift_time, const double shift_length,
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const double max_curvature, const double min_distance) const;
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67-
lanelet::ConstLanelets departure_check_lanes_;
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};
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} // namespace behavior_path_planner
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planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp

-1
Original file line numberDiff line numberDiff line change
@@ -275,7 +275,6 @@ class StartPlannerModule : public SceneModuleInterface
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const std::vector<PoseWithVelocityStamped> & ego_predicted_path) const;
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bool isSafePath() const;
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void setDrivableAreaInfo(BehaviorModuleOutput & output) const;
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void updateDepartureCheckLanes();
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lanelet::ConstLanelets createDepartureCheckLanes() const;
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// 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

-18
Original file line numberDiff line numberDiff line change
@@ -142,7 +142,6 @@ void StartPlannerModule::initVariables()
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info_marker_.markers.clear();
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initializeSafetyCheckParameters();
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initializeCollisionCheckDebugMap(debug_data_.collision_check);
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updateDepartureCheckLanes();
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}
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void StartPlannerModule::updateEgoPredictedPathParams(
@@ -606,7 +605,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
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void StartPlannerModule::resetStatus()
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{
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status_ = PullOutStatus{};
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updateDepartureCheckLanes();
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}
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void StartPlannerModule::incrementPathIndex()
@@ -1407,22 +1405,6 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
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}
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}
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1410-
void StartPlannerModule::updateDepartureCheckLanes()
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{
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const auto departure_check_lanes = createDepartureCheckLanes();
1413-
for (auto & planner : start_planners_) {
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auto shift_pull_out = std::dynamic_pointer_cast<ShiftPullOut>(planner);
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1416-
if (shift_pull_out) {
1417-
shift_pull_out->setDepartureCheckLanes(departure_check_lanes);
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}
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}
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// debug
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{
1422-
debug_data_.departure_check_lanes = departure_check_lanes;
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}
1424-
}
1425-
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lanelet::ConstLanelets StartPlannerModule::createDepartureCheckLanes() const
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{
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const double backward_path_length =

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