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refactor(route_handler): remove unused functions in route_handler (#7012
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remove unused functions in route_handler

Signed-off-by: vividf <[email protected]>
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@mkquda @vividf
mkquda authored and vividf committed May 16, 2024
1 parent 069bac2 commit fabb0e0
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77 changes: 0 additions & 77 deletions planning/route_handler/include/route_handler/route_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -205,54 +205,6 @@ class RouteHandler
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false,
const bool get_shoulder_lane = false) const;

/**
* @brief Searches the furthest linestring to the right side of the lanelet
* Only lanelet with same direction is considered
* @param the lanelet of interest
* @return right most linestring of the lane with same direction
*/
lanelet::ConstLineString3d getRightMostSameDirectionLinestring(
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;

/**
* @brief Searches the furthest linestring to the right side of the lanelet
* Used to search for road shoulders. Lane direction is ignored
* @param the lanelet of interest
* @return right most linestring
*/
lanelet::ConstLineString3d getRightMostLinestring(
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;

/**
* @brief Searches the furthest linestring to the left side of the lanelet
* Only lanelet with same direction is considered
* @param the lanelet of interest
* @return left most linestring of the lane with same direction
*/
lanelet::ConstLineString3d getLeftMostSameDirectionLinestring(
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;

/**
* @brief Searches the furthest linestring to the left side of the lanelet
* Used to search for road shoulders. Lane direction is ignored
* @param the lanelet of interest
* @return left most linestring
*/
lanelet::ConstLineString3d getLeftMostLinestring(
const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept;

/**
* @brief Return furthest linestring on both side of the lanelet
* @param the lanelet of interest
* @param (optional) search furthest right side
* @param (optional) search furthest left side
* @param (optional) include opposite lane as well
* @return right and left linestrings
*/
lanelet::ConstLineStrings3d getFurthestLinestring(
const lanelet::ConstLanelet & lanelet, bool is_right = true, bool is_left = true,
bool is_opposite = true, bool enable_same_root = false) const noexcept;

/**
* Retrieves a sequence of lanelets before the given lanelet.
* The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence
Expand All @@ -276,18 +228,6 @@ class RouteHandler
int getNumLaneToPreferredLane(
const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const;

/**
* Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return
* the distance to the preferred lane from the give lane.
* The total distance is computed from the front point of the centerline of the given lane to
* the front point of the preferred lane.
* @param lanelet lanelet to query
* @param direction change direction
* @return number of lanes from input to the preferred lane
*/
double getTotalLateralDistanceToPreferredLane(
const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const;

/**
* Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return
* the distance to the preferred lane from the give lane.
Expand Down Expand Up @@ -321,11 +261,6 @@ class RouteHandler
const lanelet::ConstLanelet & lanelet, const Pose & pose,
const double backward_distance = std::numeric_limits<double>::max(),
const double forward_distance = std::numeric_limits<double>::max()) const;
lanelet::ConstLanelets getCheckTargetLanesFromPath(
const PathWithLaneId & path, const lanelet::ConstLanelets & target_lanes,
const double check_length) const;
lanelet::routing::RelationType getRelation(
const lanelet::ConstLanelet & prev_lane, const lanelet::ConstLanelet & next_lane) const;
bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const;
bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const;
bool isRoadLanelet(const lanelet::ConstLanelet & lanelet) const;
Expand All @@ -339,22 +274,16 @@ class RouteHandler
const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const;
std::optional<lanelet::ConstLanelet> getLaneChangeTargetExceptPreferredLane(
const lanelet::ConstLanelets & lanelets, const Direction direction) const;
bool getRightLaneChangeTargetExceptPreferredLane(
const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const;
bool getLeftLaneChangeTargetExceptPreferredLane(
const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const;
std::optional<lanelet::ConstLanelet> getPullOverTarget(const Pose & goal_pose) const;
std::optional<lanelet::ConstLanelet> getPullOutStartLane(
const Pose & pose, const double vehicle_width) const;
double getLaneChangeableDistance(const Pose & current_pose, const Direction & direction) const;
lanelet::ConstLanelets getRoadLaneletsAtPose(const Pose & pose) const;
std::optional<lanelet::ConstLanelet> getLeftShoulderLanelet(
const lanelet::ConstLanelet & lanelet) const;
std::optional<lanelet::ConstLanelet> getRightShoulderLanelet(
const lanelet::ConstLanelet & lanelet) const;
lanelet::ConstLanelets getShoulderLaneletsAtPose(const Pose & pose) const;
lanelet::ConstPolygon3d getIntersectionAreaById(const lanelet::Id id) const;
bool isPreferredLane(const lanelet::ConstLanelet & lanelet) const;

private:
// MUST
Expand Down Expand Up @@ -385,8 +314,6 @@ class RouteHandler
lanelet::ConstLanelets getMainLanelets(const lanelet::ConstLanelets & path_lanelets) const;

// for lanelet
bool isInTargetLane(const PoseStamped & pose, const lanelet::ConstLanelets & target) const;
bool isInPreferredLane(const PoseStamped & pose) const;
bool isBijectiveConnection(
const lanelet::ConstLanelets & lanelet_section1,
const lanelet::ConstLanelets & lanelet_section2) const;
Expand Down Expand Up @@ -419,17 +346,13 @@ class RouteHandler
const double min_length = std::numeric_limits<double>::max()) const;
lanelet::ConstLanelets getPreviousLaneletSequence(
const lanelet::ConstLanelets & lanelet_sequence) const;
lanelet::ConstLanelets getLaneChangeTargetLanes(const Pose & pose) const;
lanelet::ConstLanelets getLaneSequenceUpTo(const lanelet::ConstLanelet & lanelet) const;
lanelet::ConstLanelets getLaneSequenceAfter(const lanelet::ConstLanelet & lanelet) const;
lanelet::ConstLanelets getLaneSequence(const lanelet::ConstLanelet & lanelet) const;
lanelet::ConstLanelets getNeighborsWithinRoute(const lanelet::ConstLanelet & lanelet) const;
std::vector<lanelet::ConstLanelets> getLaneSection(const lanelet::ConstLanelet & lanelet) const;
lanelet::ConstLanelets getNextLaneSequence(const lanelet::ConstLanelets & lane_sequence) const;

// for path

PathWithLaneId updatePathTwist(const PathWithLaneId & path) const;
/**
* @brief Checks if a path has a no_drivable_lane or not
* @param path lanelet path
Expand Down
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