From f4be9305011932e922e868c250a6c42408397d99 Mon Sep 17 00:00:00 2001
From: Takumi Ito <takumi.ito@tier4.jp>
Date: Wed, 17 Jan 2024 13:34:54 +0900
Subject: [PATCH] tmp2

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
---
 .../freespace_parameter_tuning.py             | 11 ----
 .../__init__.py                               |  0
 .../generate_costmap.py                       |  0
 .../src/astar.cpp                             | 58 -------------------
 4 files changed, 69 deletions(-)
 delete mode 100644 planning/freespace_planning_algorithms_python/freespace_parameter_tuning.py
 delete mode 100644 planning/freespace_planning_algorithms_python/freespace_planning_algorithms_python/__init__.py
 delete mode 100644 planning/freespace_planning_algorithms_python/generate_costmap.py
 delete mode 100644 planning/freespace_planning_algorithms_python/src/astar.cpp

diff --git a/planning/freespace_planning_algorithms_python/freespace_parameter_tuning.py b/planning/freespace_planning_algorithms_python/freespace_parameter_tuning.py
deleted file mode 100644
index b74dcbf78abe9..0000000000000
--- a/planning/freespace_planning_algorithms_python/freespace_parameter_tuning.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import freespace_planning_algorithms_python 
-import generate_costmap
-
-class FreespaceParameterTuning:
-    def __init__(self):
-        self.a = 0
-
-    def visualize(self):
-        self.a = 0
-
-    def 
\ No newline at end of file
diff --git a/planning/freespace_planning_algorithms_python/freespace_planning_algorithms_python/__init__.py b/planning/freespace_planning_algorithms_python/freespace_planning_algorithms_python/__init__.py
deleted file mode 100644
index e69de29bb2d1d..0000000000000
diff --git a/planning/freespace_planning_algorithms_python/generate_costmap.py b/planning/freespace_planning_algorithms_python/generate_costmap.py
deleted file mode 100644
index e69de29bb2d1d..0000000000000
diff --git a/planning/freespace_planning_algorithms_python/src/astar.cpp b/planning/freespace_planning_algorithms_python/src/astar.cpp
deleted file mode 100644
index 70e8420ad4c1a..0000000000000
--- a/planning/freespace_planning_algorithms_python/src/astar.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#include <freespace_planning_algorithms/astar_search.hpp>
-// #include <freespace_planning_algorithms/abstract_algorithm.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <pybind11/pybind11.hpp>
-
-namespace py = pybind11;
-using namespace freespace_planning_algorithms;
-
-PYBIND11_MODULE(PYTHON_API_MODULE_NAME, p)
-{
-    py::class_<AbstractPlanningAlgorithm>(p, "AbstractPlanningAlgorithm")
-            .def(py::init<>());
-
-    py::class_<AstarSearch, AbstractPlanningAlgorithm>(p, "AstarSearch")
-            .def(py::init<PlannerCommonParam &, VehicleShape &, AstarParam &>());
-
-    py::class_<AstarParam>(p, "AstarParam")
-            .def("only_behind_solutions", AstarParam::only_behind_solutions)
-            .def("use_back", AstarParam::use_back)
-            .def("distance_heuristic_weight", AstarParam::distance_heuristic_weight);
-    py::class_<PlannerCommonParam>(p, "PlannerCommonParam")
-            .def("time_limit", PlannerCommonParam::time_limit)
-            .def("minimum_tuning_radius", PlannerCommonParam::time_limit)
-            .def("maximum_tuning_radius", PlannerCommonParam::time_limit)
-            .def("turning_radius_size", PlannerCommonParam::turning_radius_size)
-            .def("theta_size", PlannerCommonParam::theta_size)
-            .def("curve_weight", PlannerCommonParam::curve_weight)
-            .def("reverse_weight", PlannerCommonParam::reverse_weight)
-            .def("lateral_goal_range", PlannerCommonParam::lateral_goal_range)
-            .def("longitudinal_goal_range", PlannerCommonParam::longitudinal_goal_range)
-            .def("angle_goal_range", PlannerCommonParam::angle_goal_range)
-            .def("obstacle_threshold", PlannerCommonParam::obstacle_threshold);
-    py::class_<VehicleShape>(p, "VehicleShape")
-            .def(py::init<>())
-            .def(py::init<double, double, double>())
-            .def("length", VehicleShape::length)
-            .def("width", VehicleShape::time_limit)
-            .def("base2back", VehicleShape::time_limit);
-}
-
-// #include <freespace_planning_algorithms/astar_search.hpp>
-// #include <freespace_planning_algorithms/abstract_algorithm.hpp>
-// #include <rclcpp/rclcpp.hpp>
-// #include <boost/python.hpp>
-// #include <boost/bind/bind.hpp>
-
-
-// using namespace freespace_planning_algorithms;
-
-// BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME)
-// {
-//   using namespace boost::python;
-//   class_<AstarSearch, bases<AbstractPlanningAlgorithm>>(
-//     "AstarSeach", init<PlannerCommonParam, VehicleShape, AstarParam>())
-//     // .def(init<PlannerCommonParam, VehicleShape, rclcpp::Node>())
-//     .def("set_map", &AstarSearch::setMap)
-//     .def("make_plan", &AstarSearch::makePlan);
-// }
\ No newline at end of file