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fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction #8574

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merged 1 commit into from
Aug 27, 2024
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fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction #8574

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2 changes: 0 additions & 2 deletions ...stic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,8 +120,6 @@ bool extractCommonPointCloud(
const sensor_msgs::msg::PointCloud2 & obstacle_pc, const sensor_msgs::msg::PointCloud2 & raw_pc,
sensor_msgs::msg::PointCloud2 & output_obstacle_pc);

unsigned char getApproximateOccupancyState(const unsigned char & value);

} // namespace utils
} // namespace autoware::occupancy_grid_map

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16 changes: 0 additions & 16 deletions perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp
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Expand Up @@ -191,21 +191,5 @@ bool extractCommonPointCloud(
return true;
}

/**
* @brief Convert unsigned char value to closest cost value
* @param cost Cost value
* @return Probability
*/
unsigned char getApproximateOccupancyState(const unsigned char & value)
{
if (value >= cost_value::OCCUPIED_THRESHOLD) {
return cost_value::LETHAL_OBSTACLE;
} else if (value <= cost_value::FREE_THRESHOLD) {
return cost_value::FREE_SPACE;
} else {
return cost_value::NO_INFORMATION;
}
}

} // namespace utils
} // namespace autoware::occupancy_grid_map
36 changes: 0 additions & 36 deletions ...utoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
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@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check notice on line 1 in perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 5.90 to 6.88, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

Check notice on line 1 in perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Code Duplication 

The module no longer contains too many functions with similar structure
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -369,42 +369,6 @@
return fused_map;
}

/**
* @brief Update occupancy grid map with asynchronous input (currently unused)
*
* @param occupancy_grid_msg
*/
void GridMapFusionNode::updateGridMap(
const nav_msgs::msg::OccupancyGrid::ConstSharedPtr & occupancy_grid_msg)
{
// get updater map origin

// origin is set to current updater map
auto map_for_update = OccupancyGridMsgToCostmap2D(*occupancy_grid_msg);

// update
occupancy_grid_map_updater_ptr_->update(map_for_update);
}

nav2_costmap_2d::Costmap2D GridMapFusionNode::OccupancyGridMsgToCostmap2D(
const nav_msgs::msg::OccupancyGrid & occupancy_grid_map)
{
nav2_costmap_2d::Costmap2D costmap2d(
occupancy_grid_map.info.width, occupancy_grid_map.info.height,
occupancy_grid_map.info.resolution, occupancy_grid_map.info.origin.position.x,
occupancy_grid_map.info.origin.position.y, 0);

for (unsigned int i = 0; i < occupancy_grid_map.info.width; i++) {
for (unsigned int j = 0; j < occupancy_grid_map.info.height; j++) {
const unsigned int index = i + j * occupancy_grid_map.info.width;
costmap2d.setCost(
i, j, cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]);
}
}

return costmap2d;
}

OccupancyGridMapFixedBlindSpot GridMapFusionNode::OccupancyGridMsgToGridMap(
const nav_msgs::msg::OccupancyGrid & occupancy_grid_map)
{
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4 changes: 0 additions & 4 deletions ...utoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
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Expand Up @@ -66,16 +66,12 @@ class GridMapFusionNode : public rclcpp::Node
const std::string & frame_id, const builtin_interfaces::msg::Time & stamp,
const float & robot_pose_z, const nav2_costmap_2d::Costmap2D & occupancy_grid_map);

nav2_costmap_2d::Costmap2D OccupancyGridMsgToCostmap2D(
const nav_msgs::msg::OccupancyGrid & occupancy_grid_map);
OccupancyGridMapFixedBlindSpot OccupancyGridMsgToGridMap(
const nav_msgs::msg::OccupancyGrid & occupancy_grid_map);
OccupancyGridMapFixedBlindSpot SingleFrameOccupancyFusion(
std::vector<OccupancyGridMapFixedBlindSpot> & occupancy_grid_maps,
const builtin_interfaces::msg::Time latest_stamp, const std::vector<double> & weights);

void updateGridMap(const nav_msgs::msg::OccupancyGrid::ConstSharedPtr & occupancy_grid_msg);

void setPeriod(const int64_t new_period);
void timer_callback();
void publish();
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