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feat(behavior_planner): replace get_point function #603

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merged 4 commits into from
Jun 22, 2023
Merged

feat(behavior_planner): replace get_point function #603

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3de15bd
feat(behavior_planner): replace get_point function
yn-mrse Jun 22, 2023
dc6f2af
feat: remove get_pose from virtual_traffic_light module
yn-mrse Jun 22, 2023
83029d0
feat: remove get_pose from occlusion_spot module
yn-mrse Jun 22, 2023
d644129
Merge branch 'feat/keep_stopping_dist/v0.3.16' into feat/remove_util_…
yn-mrse Jun 22, 2023
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17 changes: 0 additions & 17 deletions planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,23 +52,6 @@
#include <string>
#include <vector>

namespace tier4_autoware_utils
{
template <>
inline geometry_msgs::msg::Point getPoint(
const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
{
return p.point.pose.position;
}

template <>
inline geometry_msgs::msg::Pose getPose(
const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
{
return p.point.pose;
}
} // namespace tier4_autoware_utils

namespace tf2
{
inline void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf2::Transform> & out)
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10 changes: 0 additions & 10 deletions ...ng/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,16 +42,6 @@
#include <utility>
#include <vector>

namespace tier4_autoware_utils
{
template <>
inline geometry_msgs::msg::Pose getPose(
const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
{
return p.point.pose;
}
} // namespace tier4_autoware_utils

namespace behavior_velocity_planner
{
using autoware_auto_perception_msgs::msg::ObjectClassification;
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13 changes: 1 addition & 12 deletions planning/behavior_velocity_planner/include/utilization/util.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,7 @@
#define UTILIZATION__UTIL_HPP_

#include <lanelet2_extension/utility/query.hpp>
#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/trajectory/trajectory.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <utilization/boost_geometry_helper.hpp>

#include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
Expand Down Expand Up @@ -49,16 +48,6 @@
#include <string>
#include <vector>

namespace tier4_autoware_utils
{
template <>
inline geometry_msgs::msg::Point getPoint(
const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
{
return p.point.pose.position;
}
} // namespace tier4_autoware_utils

namespace behavior_velocity_planner
{
struct SearchRangeIndex
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10 changes: 0 additions & 10 deletions planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,16 +23,6 @@
#include <string>
#include <vector>

namespace tier4_autoware_utils
{
template <>
inline geometry_msgs::msg::Pose getPose(
const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
{
return p.point.pose;
}
} // namespace tier4_autoware_utils

namespace behavior_velocity_planner
{
namespace
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