Simplify calculate_other_lanelets

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

planning/behavior_velocity_out_of_lane_module/src/lanelets_selection.cpp

@@ -69,25 +69,12 @@ lanelet::ConstLanelets calculate_other_lanelets(
   const auto lanelets_within_range = lanelet::geometry::findWithin2d(
     route_handler.getLaneletMapPtr()->laneletLayer, ego_point,
     std::max(params.slow_dist_threshold, params.stop_dist_threshold));
-  const auto is_overlapped_by_path_lanelets = [&](const auto & l) {
-    for (const auto & path_ll : path_lanelets) {
-      if (
-        boost::geometry::overlaps(
-          path_ll.polygon2d().basicPolygon(), l.polygon2d().basicPolygon()) ||
-        boost::geometry::within(path_ll.polygon2d().basicPolygon(), l.polygon2d().basicPolygon()) ||
-        boost::geometry::within(l.polygon2d().basicPolygon(), path_ll.polygon2d().basicPolygon())) {
-        return true;
-      }
-    }
-    return false;
-  };
   for (const auto & ll : lanelets_within_range) {
     if (std::string(ll.second.attributeOr(lanelet::AttributeName::Subtype, "none")) != "road")
       continue;
     const auto is_path_lanelet = contains_lanelet(path_lanelets, ll.second.id());
     const auto is_ignored_lanelet = contains_lanelet(ignored_lanelets, ll.second.id());
-    if (!is_path_lanelet && !is_ignored_lanelet && !is_overlapped_by_path_lanelets(ll.second))
-      other_lanelets.push_back(ll.second);
+    if (!is_path_lanelet && !is_ignored_lanelet) other_lanelets.push_back(ll.second);
   }
   return other_lanelets;
 }