remove goal_planner_data_ as not used

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jan 29, 2025 · a6f4a3f · a6f4a3f
1 parent 0620fb4
commit a6f4a3f
Show file tree

Hide file tree

Showing 2 changed files with 0 additions and 25 deletions.
diff --git a/...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -332,8 +332,6 @@ class GoalPlannerModule : public SceneModuleInterface
   std::optional<FreespaceParkingRequest> freespace_parking_request_;
   FreespaceParkingResponse freespace_parking_response_;
 
-  mutable StartGoalPlannerData goal_planner_data_;
-
   std::unique_ptr<FixedGoalPlannerBase> fixed_goal_planner_;
 
   // goal searcher

diff --git a/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -2239,17 +2239,6 @@ bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path)
   return isCrossingPossible(start_pose, end_pose, lanes);
 }
 
-/*
-void GoalPlannerModule::updateSafetyCheckTargetObjectsData(
-  const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane,
-  const std::vector<PoseWithVelocityStamped> & ego_predicted_path) const
-{
-  goal_planner_data_.filtered_objects = filtered_objects;
-  goal_planner_data_.target_objects_on_lane = target_objects_on_lane;
-  goal_planner_data_.ego_predicted_path = ego_predicted_path;
-}
-*/
-
 static std::vector<utils::path_safety_checker::ExtendedPredictedObject> filterObjectsByWithinPolicy(
   const std::shared_ptr<const PredictedObjects> & objects,
   const lanelet::ConstLanelets & target_lanes, const ObjectsFilteringParams & params)
@@ -2536,18 +2525,6 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data)
     }
   }
 
-  // safety check
-  if (goal_planner_data_.ego_predicted_path.size() > 0) {
-    const auto & ego_predicted_path = utils::path_safety_checker::convertToPredictedPath(
-      goal_planner_data_.ego_predicted_path, ego_predicted_path_params_.time_resolution);
-    add(createPredictedPathMarkerArray(
-      ego_predicted_path, vehicle_info_, "ego_predicted_path_goal_planner", 0, 0.0, 0.5, 0.9));
-  }
-  if (goal_planner_data_.filtered_objects.objects.size() > 0) {
-    add(createObjectsMarkerArray(
-      goal_planner_data_.filtered_objects, "filtered_objects", 0, 0.0, 0.5, 0.9));
-  }
-
   auto collision_check = debug_data_.collision_check;
   if (parameters_.safety_check_params.method == "RSS") {
     add(showSafetyCheckInfo(collision_check, "object_debug_info"));