chore(crosswalk)!: delete wide crosswalk corresponding function (#9329)

Signed-off-by: Yuki Takagi <[email protected]>
autowarefoundation · Nov 15, 2024 · fbf297a · fbf297a
1 parent e54020e
commit fbf297a
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Showing 3 changed files with 1 addition and 6 deletions.
diff --git a/...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp b/...ing/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
@@ -51,8 +51,6 @@ CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<double>(node, ns + ".stop_position.stop_distance_from_object_preferred");
   cp.stop_distance_from_object_limit =
     getOrDeclareParameter<double>(node, ns + ".stop_position.stop_distance_from_object_limit");
-  cp.far_object_threshold =
-    getOrDeclareParameter<double>(node, ns + ".stop_position.far_object_threshold");
   cp.stop_position_threshold =
     getOrDeclareParameter<double>(node, ns + ".stop_position.stop_position_threshold");
   cp.min_acc_preferred =

diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -420,9 +420,7 @@ std::optional<geometry_msgs::msg::Pose> CrosswalkModule::calcStopPose(
     if (!ped_stop_pref_opt.has_value()) {
       RCLCPP_INFO(logger_, "Failure to calculate pref_stop.");
       return std::nullopt;
-    } else if (
-      default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist &&
-      ped_stop_pref_opt->dist < default_stop_opt->dist + planner_param_.far_object_threshold) {
+    } else if (default_stop_opt.has_value() && ped_stop_pref_opt->dist > default_stop_opt->dist) {
       return default_stop_opt;
     } else {
       return ped_stop_pref_opt;

diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -122,7 +122,6 @@ class CrosswalkModule : public SceneModuleInterface
     double stop_distance_from_object_preferred;
     double stop_distance_from_object_limit;
     double stop_distance_from_crosswalk;
-    double far_object_threshold;
     double stop_position_threshold;
     double min_acc_preferred;
     double min_jerk_preferred;