ref(traffic_simulator): remove irrelevant toMapPosition

tier4 · Dec 19, 2024 · c1df2c5 · c1df2c5
1 parent 5dfaf19
commit c1df2c5
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diff --git a/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp b/simulation/traffic_simulator/include/traffic_simulator/hdmap_utils/hdmap_utils.hpp
@@ -162,9 +162,6 @@ class HdMapUtils
 
   auto getAltitude(const traffic_simulator_msgs::msg::LaneletPose &) const -> double;
 
-  auto toMapPosition(const lanelet::Id lanelet_id, const double s) const
-    -> geometry_msgs::msg::Point;
-
   auto getLaneChangeTrajectory(
     const geometry_msgs::msg::Pose & from,
     const traffic_simulator::lane_change::Parameter & lane_change_parameter,

diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
@@ -1098,12 +1098,6 @@ auto HdMapUtils::getNextLaneletIds(
   return sortAndUnique(ids);
 }
 
-auto HdMapUtils::toMapPosition(const lanelet::Id lanelet_id, const double s) const
-  -> geometry_msgs::msg::Point
-{
-  return getCenterPointsSpline(lanelet_id)->getPoint(s);
-}
-
 auto HdMapUtils::getTrafficLightIds() const -> lanelet::Ids
 {
   using namespace lanelet::utils::query;