From c5aae4036fd715ca9cc8e252c456b03fb9cea33e Mon Sep 17 00:00:00 2001 From: kobayu858 Date: Tue, 27 Aug 2024 19:34:13 +0900 Subject: [PATCH] fix:unusedFunction Signed-off-by: kobayu858 --- .../path_optimizer/utils/trajectory_utils.hpp | 4 ---- .../src/utils/trajectory_utils.cpp | 23 ------------------- 2 files changed, 27 deletions(-) diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp index 3cacdc2e1ecaf..c9900d2ce8225 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp @@ -132,10 +132,6 @@ std::vector convertToReferencePoints( std::vector sanitizePoints(const std::vector & points); -void compensateLastPose( - const PathPoint & last_path_point, std::vector & traj_points, - const double delta_dist_threshold, const double delta_yaw_threshold); - geometry_msgs::msg::Point getNearestPosition( const std::vector & points, const int target_idx, const double offset); diff --git a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp index 8e15cdb852893..bcfc7e53ee67d 100644 --- a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp +++ b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp @@ -97,29 +97,6 @@ std::vector sanitizePoints(const std::vector & p return output; } -void compensateLastPose( - const PathPoint & last_path_point, std::vector & traj_points, - const double delta_dist_threshold, const double delta_yaw_threshold) -{ - if (traj_points.empty()) { - traj_points.push_back(convertToTrajectoryPoint(last_path_point)); - return; - } - - const geometry_msgs::msg::Pose last_traj_pose = traj_points.back().pose; - - const double dist = autoware::universe_utils::calcDistance2d( - last_path_point.pose.position, last_traj_pose.position); - const double norm_diff_yaw = [&]() { - const double diff_yaw = - tf2::getYaw(last_path_point.pose.orientation) - tf2::getYaw(last_traj_pose.orientation); - return autoware::universe_utils::normalizeRadian(diff_yaw); - }(); - if (dist > delta_dist_threshold || std::fabs(norm_diff_yaw) > delta_yaw_threshold) { - traj_points.push_back(convertToTrajectoryPoint(last_path_point)); - } -} - geometry_msgs::msg::Point getNearestPosition( const std::vector & points, const int target_idx, const double offset) {