From 566c57f671c4aa01cd0a52b214ffbbda16ef47f9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 7 Dec 2023 21:47:20 +0900 Subject: [PATCH] refactor(behavior_path_planner): delete unnecessary TODO (#5806) delete unnecessary TODO Signed-off-by: kyoichi-sugahara --- .../src/goal_planner_module.cpp | 1 - .../src/scene_module/lane_change/interface.cpp | 1 - .../src/start_planner_module.cpp | 2 -- 3 files changed, 4 deletions(-) diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 19c60d77b3d67..98f5664153bfd 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -873,7 +873,6 @@ void GoalPlannerModule::updateSteeringFactor( return SteeringFactor::STRAIGHT; }); - // TODO(tkhmy) add handle status TRYING steering_factor_interface_ptr_->updateSteeringFactor( pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, ""); } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 26fc423fce02f..cec9d5013d929 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -372,7 +372,6 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o const auto finish_distance = motion_utils::calcSignedArcLength( output.path->points, current_position, status.lane_change_path.info.shift_line.end.position); - // TODO(tkhmy) add handle status TRYING steering_factor_interface_ptr_->updateSteeringFactor( {status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end}, {start_distance, finish_distance}, PlanningBehavior::LANE_CHANGE, steering_factor_direction, diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp index ca84795cb77b3..0d3892cde8023 100644 --- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp @@ -427,7 +427,6 @@ BehaviorModuleOutput StartPlannerModule::plan() path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.end_pose.position); updateRTCStatus(start_distance, finish_distance); - // TODO(tkhmy) add handle status TRYING steering_factor_interface_ptr_->updateSteeringFactor( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {start_distance, finish_distance}, PlanningBehavior::START_PLANNER, steering_factor_direction, @@ -437,7 +436,6 @@ BehaviorModuleOutput StartPlannerModule::plan() path.points, planner_data_->self_odometry->pose.pose.position, status_.pull_out_path.start_pose.position); updateRTCStatus(0.0, distance); - // TODO(tkhmy) add handle status TRYING steering_factor_interface_ptr_->updateSteeringFactor( {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance}, PlanningBehavior::START_PLANNER, steering_factor_direction, SteeringFactor::TURNING, "");