refactor(behavior_path_planner): use util function convertToPredicted…

…Path from lane_change (autowarefoundation#5013)
TaikiYamada4 · Sep 19, 2023 · f492916 · f492916
1 parent 8eeb11d
commit f492916
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Showing 3 changed files with 1 addition and 17 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
@@ -160,9 +160,6 @@ std::vector<PoseWithVelocityStamped> convertToPredictedPath(
   const LaneChangePath & lane_change_path, const Twist & vehicle_twist, const Pose & pose,
   const BehaviorPathPlannerParameters & common_parameters, const double resolution);
 
-PredictedPath convertToPredictedPath(
-  const std::vector<PoseWithVelocityStamped> & path, const double time_resolution);
-
 bool isParkedObject(
   const PathWithLaneId & path, const RouteHandler & route_handler,
   const ExtendedPredictedObject & object, const double object_check_min_road_shoulder_width,

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -1346,7 +1346,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe(
   const auto ego_predicted_path = utils::lane_change::convertToPredictedPath(
     lane_change_path, current_twist, current_pose, common_parameters, time_resolution);
   const auto debug_predicted_path =
-    utils::lane_change::convertToPredictedPath(ego_predicted_path, time_resolution);
+    utils::path_safety_checker::convertToPredictedPath(ego_predicted_path, time_resolution);
 
   auto collision_check_objects = target_objects.target_lane;
 

diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -829,19 +829,6 @@ std::vector<PoseWithVelocityStamped> convertToPredictedPath(
   return predicted_path;
 }
 
-PredictedPath convertToPredictedPath(
-  const std::vector<PoseWithVelocityStamped> & path, const double time_resolution)
-{
-  PredictedPath predicted_path;
-  predicted_path.time_step = rclcpp::Duration::from_seconds(time_resolution);
-  predicted_path.path.resize(path.size());
-
-  for (size_t i = 0; i < path.size(); ++i) {
-    predicted_path.path.at(i) = path.at(i).pose;
-  }
-  return predicted_path;
-}
-
 bool isParkedObject(
   const PathWithLaneId & path, const RouteHandler & route_handler,
   const ExtendedPredictedObject & object, const double object_check_min_road_shoulder_width,