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refactor(behavior_path_planner): remove unnecessary functions #3271

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Apr 5, 2023
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refactor(behavior_path_planner): remove unnecessary functions #3271

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refactor(behavior_path_planner): remove unnecessary functions
purewater0901 Apr 5, 2023
45b0a49
update
purewater0901 Apr 5, 2023
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4 changes: 0 additions & 4 deletions planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
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Expand Up @@ -102,10 +102,6 @@ void getProjectedDistancePointFromPolygons(
Pose & point_on_object);
// data conversions

std::vector<Pose> convertToPoseArray(const PathWithLaneId & path);

PoseArray convertToGeometryPoseArray(const PathWithLaneId & path);

PredictedPath convertToPredictedPath(
const PathWithLaneId & path, const Twist & vehicle_twist, const Pose & pose,
const double nearest_seg_idx, const double duration, const double resolution,
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1 change: 0 additions & 1 deletion .../behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
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Expand Up @@ -38,7 +38,6 @@
#include <vector>

using autoware_auto_planning_msgs::msg::PathWithLaneId;
using behavior_path_planner::util::convertToGeometryPoseArray;
using behavior_path_planner::util::removeOverlappingPoints;
using geometry_msgs::msg::Point;
using geometry_msgs::msg::Pose;
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22 changes: 0 additions & 22 deletions planning/behavior_path_planner/src/utilities.cpp
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Expand Up @@ -122,33 +122,11 @@ using geometry_msgs::msg::PoseWithCovarianceStamped;
using tf2::fromMsg;
using tier4_autoware_utils::Point2d;

std::vector<Pose> convertToPoseArray(const PathWithLaneId & path)
{
std::vector<Pose> pose_array;
pose_array.reserve(path.points.size());
for (const auto & pt : path.points) {
pose_array.push_back(pt.point.pose);
}
return pose_array;
}

double l2Norm(const Vector3 vector)
{
return std::sqrt(std::pow(vector.x, 2) + std::pow(vector.y, 2) + std::pow(vector.z, 2));
}

PoseArray convertToGeometryPoseArray(const PathWithLaneId & path)
{
PoseArray converted_array;
converted_array.header = path.header;

converted_array.poses.reserve(path.points.size());
for (const auto & point_with_id : path.points) {
converted_array.poses.push_back(point_with_id.point.pose);
}
return converted_array;
}

PredictedPath convertToPredictedPath(
const PathWithLaneId & path, const Twist & vehicle_twist, const Pose & vehicle_pose,
const double nearest_seg_idx, const double duration, const double resolution,
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12 changes: 4 additions & 8 deletions planning/behavior_path_planner/test/test_utilities.cpp
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Expand Up @@ -29,14 +29,12 @@ TEST(BehaviorPathPlanningUtilitiesBehaviorTest, vehiclePoseToFrenetOnStraightLin
{
PathWithLaneId path =
behavior_path_planner::generateStraightSamplePathWithLaneId(0.0f, 1.0f, 10u);
std::vector<geometry_msgs::msg::Pose> geometry_points =
behavior_path_planner::util::convertToPoseArray(path);
Pose vehicle_pose = behavior_path_planner::generateEgoSamplePose(10.7f, -1.7f, 0.0);

const size_t vehicle_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
geometry_points, vehicle_pose, 3.0, 1.0);
path.points, vehicle_pose, 3.0, 1.0);
const auto vehicle_pose_frenet = behavior_path_planner::util::convertToFrenetPoint(
geometry_points, vehicle_pose.position, vehicle_seg_idx);
path.points, vehicle_pose.position, vehicle_seg_idx);

EXPECT_NEAR(vehicle_pose_frenet.distance, -1.7f, 1e-3);
EXPECT_NEAR(vehicle_pose_frenet.length, 10.7f, 1e-3);
Expand All @@ -46,14 +44,12 @@ TEST(BehaviorPathPlanningUtilitiesBehaviorTest, vehiclePoseToFrenetOnDiagonalLin
{
PathWithLaneId path =
behavior_path_planner::generateDiagonalSamplePathWithLaneId(0.0f, 1.0f, 10u);
std::vector<geometry_msgs::msg::Pose> geometry_points =
behavior_path_planner::util::convertToPoseArray(path);
Pose vehicle_pose = behavior_path_planner::generateEgoSamplePose(0.1f, 0.1f, 0.0);

const size_t vehicle_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
geometry_points, vehicle_pose, 3.0, 1.0);
path.points, vehicle_pose, 3.0, 1.0);
const auto vehicle_pose_frenet = behavior_path_planner::util::convertToFrenetPoint(
geometry_points, vehicle_pose.position, vehicle_seg_idx);
path.points, vehicle_pose.position, vehicle_seg_idx);

EXPECT_NEAR(vehicle_pose_frenet.distance, 0, 1e-2);
EXPECT_NEAR(vehicle_pose_frenet.length, 0.1414f, 1e-2);
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