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chore(lane_change, QC): remove unused function (#10188)
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chore(lane_change): remove unused function

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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@soblin
soblin authored Feb 23, 2025
1 parent ca53a80 commit a11a3ee
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Showing 2 changed files with 0 additions and 123 deletions.
4 changes: 0 additions & 4 deletions ...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,10 +104,6 @@ bool path_footprint_exceeds_target_lane_bound(
const CommonDataPtr & common_data_ptr, const PathWithLaneId & path, const VehicleInfo & ego_info,
const double margin = 0.1);

std::vector<DrivableLanes> generateDrivableLanes(
const std::vector<DrivableLanes> & original_drivable_lanes, const RouteHandler & route_handler,
const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & lane_change_lanes);

std::vector<DrivableLanes> generateDrivableLanes(
const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes,
const lanelet::ConstLanelets & lane_change_lanes);
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119 changes: 0 additions & 119 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,125 +206,6 @@ std::vector<DrivableLanes> generateDrivableLanes(
return drivable_lanes;
}

std::vector<DrivableLanes> generateDrivableLanes(
const std::vector<DrivableLanes> & original_drivable_lanes, const RouteHandler & route_handler,
const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & lane_change_lanes)
{
const auto has_same_lane =
[](const lanelet::ConstLanelets & lanes, const lanelet::ConstLanelet & lane) {
if (lanes.empty()) return false;
const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); };
return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end();
};

const auto check_middle = [&](const auto & lane) -> std::optional<DrivableLanes> {
for (const auto & drivable_lane : original_drivable_lanes) {
if (has_same_lane(drivable_lane.middle_lanes, lane)) {
return drivable_lane;
}
}
return std::nullopt;
};

const auto check_left = [&](const auto & lane) -> std::optional<DrivableLanes> {
for (const auto & drivable_lane : original_drivable_lanes) {
if (drivable_lane.left_lane.id() == lane.id()) {
return drivable_lane;
}
}
return std::nullopt;
};

const auto check_right = [&](const auto & lane) -> std::optional<DrivableLanes> {
for (const auto & drivable_lane : original_drivable_lanes) {
if (drivable_lane.right_lane.id() == lane.id()) {
return drivable_lane;
}
}
return std::nullopt;
};

size_t current_lc_idx = 0;
std::vector<DrivableLanes> drivable_lanes(current_lanes.size());
for (size_t i = 0; i < current_lanes.size(); ++i) {
const auto & current_lane = current_lanes.at(i);

const auto middle_drivable_lane = check_middle(current_lane);
if (middle_drivable_lane) {
drivable_lanes.at(i) = *middle_drivable_lane;
}

const auto left_drivable_lane = check_left(current_lane);
if (left_drivable_lane) {
drivable_lanes.at(i) = *left_drivable_lane;
}

const auto right_drivable_lane = check_right(current_lane);
if (right_drivable_lane) {
drivable_lanes.at(i) = *right_drivable_lane;
}

if (!middle_drivable_lane && !left_drivable_lane && !right_drivable_lane) {
drivable_lanes.at(i).left_lane = current_lane;
drivable_lanes.at(i).right_lane = current_lane;
}

const auto left_lane = route_handler.getLeftLanelet(current_lane);
const auto right_lane = route_handler.getRightLanelet(current_lane);
if (!left_lane && !right_lane) {
continue;
}

for (size_t lc_idx = current_lc_idx; lc_idx < lane_change_lanes.size(); ++lc_idx) {
const auto & lc_lane = lane_change_lanes.at(lc_idx);
if (left_lane && lc_lane.id() == left_lane->id()) {
if (left_drivable_lane) {
drivable_lanes.at(i).left_lane = lc_lane;
}
current_lc_idx = lc_idx;
break;
}

if (right_lane && lc_lane.id() == right_lane->id()) {
if (right_drivable_lane) {
drivable_lanes.at(i).right_lane = lc_lane;
}
current_lc_idx = lc_idx;
break;
}
}
}

for (size_t i = current_lc_idx + 1; i < lane_change_lanes.size(); ++i) {
const auto & lc_lane = lane_change_lanes.at(i);
DrivableLanes drivable_lane;

const auto middle_drivable_lane = check_middle(lc_lane);
if (middle_drivable_lane) {
drivable_lane = *middle_drivable_lane;
}

const auto left_drivable_lane = check_left(lc_lane);
if (left_drivable_lane) {
drivable_lane = *left_drivable_lane;
}

const auto right_drivable_lane = check_right(lc_lane);
if (right_drivable_lane) {
drivable_lane = *right_drivable_lane;
}

if (!middle_drivable_lane && !left_drivable_lane && !right_drivable_lane) {
drivable_lane.left_lane = lc_lane;
drivable_lane.right_lane = lc_lane;
}

drivable_lanes.push_back(drivable_lane);
}

return drivable_lanes;
}

double getLateralShift(const LaneChangePath & path)
{
if (path.shifted_path.shift_length.empty()) {
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