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chore(goal_planner): delete unnecessary comments #6729

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Apr 3, 2024
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chore(goal_planner): delete unnecessary comments #6729

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28 changes: 0 additions & 28 deletions planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1640,34 +1640,6 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo()
ignore_signal_ = update_ignore_signal(closest_lanelet.id(), is_ignore);

return new_signal;
// // calc TurnIndicatorsCommand
// {
// const double distance_to_end =
// calcSignedArcLength(full_path.points, current_pose.position, end_pose.position);
// const bool is_before_end_pose = distance_to_end >= 0.0;
// if (is_before_end_pose) {
// if (left_side_parking_) {
// turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
// } else {
// turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
// }
// } else {
// turn_signal.turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;
// }
// }

// // calc desired/required start/end point
// {
// // ego decelerates so that current pose is the point `turn_light_on_threshold_time` seconds
// // before starting pull_over
// turn_signal.desired_start_point =
// last_approval_data_ && hasDecidedPath() ? last_approval_data_->pose : current_pose;
// turn_signal.desired_end_point = end_pose;
// turn_signal.required_start_point = start_pose;
// turn_signal.required_end_point = end_pose;
// }

// return turn_signal;
}

bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const
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