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fix(autoware_behavior_path_side_shift_module): fix unusedFunction #8655

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Aug 28, 2024
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fix(autoware_behavior_path_side_shift_module): fix unusedFunction #8655

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8 changes: 0 additions & 8 deletions ...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,16 +29,8 @@ using tier4_planning_msgs::msg::PathWithLaneId;

void setOrientation(PathWithLaneId * path);

bool getStartAvoidPose(
const PathWithLaneId & path, const double start_distance, const size_t nearest_idx,
Pose * start_avoid_pose);

bool isAlmostZero(double v);

Point transformToGrid(
const Point & pt, const double longitudinal_offset, const double lateral_offset, const double yaw,
const TransformStamped & geom_tf);

} // namespace autoware::behavior_path_planner

#endif // AUTOWARE__BEHAVIOR_PATH_SIDE_SHIFT_MODULE__UTILS_HPP_
40 changes: 0 additions & 40 deletions planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,49 +53,9 @@
}
}

bool getStartAvoidPose(
const PathWithLaneId & path, const double start_distance, const size_t nearest_idx,
Pose * start_avoid_pose)
{
if (!start_avoid_pose) {
return false;
}
if (nearest_idx >= path.points.size()) {
return false;
}

double arclength = 0.0;
for (size_t idx = nearest_idx + 1; idx < path.points.size(); ++idx) {
const auto pt = path.points.at(idx).point;
const auto pt_prev = path.points.at(idx - 1).point;
const double dx = pt.pose.position.x - pt_prev.pose.position.x;
const double dy = pt.pose.position.y - pt_prev.pose.position.y;
arclength += std::hypot(dx, dy);

if (arclength > start_distance) {
*start_avoid_pose = pt.pose;
return true;
}
}

return false;
}

bool isAlmostZero(double v)
{
return std::fabs(v) < 1.0e-4;
}

Check notice on line 60 in planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Excess Number of Function Arguments 

transformToGrid is no longer above the threshold for number of arguments
Point transformToGrid(
const Point & pt, const double longitudinal_offset, const double lateral_offset, const double yaw,
const TransformStamped & geom_tf)
{
Point offset_pt, grid_pt;
offset_pt = pt;
offset_pt.x += longitudinal_offset * cos(yaw) - lateral_offset * sin(yaw);
offset_pt.y += longitudinal_offset * sin(yaw) + lateral_offset * cos(yaw);
tf2::doTransform(offset_pt, grid_pt, geom_tf);
return grid_pt;
}

} // namespace autoware::behavior_path_planner
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