resolve errors

Signed-off-by: Y.Hisaki <[email protected]>
tier4 · Jul 19, 2024 · 843add6 · 843add6
1 parent b49bb5a
commit 843add6
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Showing 2 changed files with 6 additions and 27 deletions.
diff --git a/...lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/...lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
@@ -155,17 +155,11 @@ class LaneChangeBase
 
   bool isValidPath() const { return status_.is_valid_path; }
 
-  void setData(const std::shared_ptr<const PlannerData> & data)
+  void setData(const std::shared_ptr<const PlannerData> & data) { planner_data_ = data; }
+
+  void setTimeKeeper(const std::shared_ptr<universe_utils::TimeKeeper> & time_keeper)
   {
-    planner_data_ = data;
-    if (!common_data_ptr_->bpp_param_ptr) {
-      common_data_ptr_->bpp_param_ptr =
-        std::make_shared<BehaviorPathPlannerParameters>(data->parameters);
-    }
-    common_data_ptr_->self_odometry_ptr = data->self_odometry;
-    common_data_ptr_->route_handler_ptr = data->route_handler;
-    common_data_ptr_->lc_param_ptr = lane_change_parameters_;
-    common_data_ptr_->direction = direction_;
+    time_keeper_ = time_keeper;
   }
 
   void toNormalState() { current_lane_change_state_ = LaneChangeStates::Normal; }

diff --git a/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -310,6 +310,8 @@ void StaticObstacleAvoidanceModule::fillFundamentalData(
 void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects(
   AvoidancePlanningData & data, DebugData & debug) const
 {
+  using utils::static_obstacle_avoidance::fillAvoidanceNecessity;
+  using utils::static_obstacle_avoidance::fillObjectStoppableJudge;
   using utils::static_obstacle_avoidance::filterTargetObjects;
   using utils::static_obstacle_avoidance::separateObjectsByPath;
   using utils::static_obstacle_avoidance::updateRoadShoulderDistance;
@@ -371,21 +373,6 @@ void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects(
   }
 }
 
-void StaticObstacleAvoidanceModule::fillAvoidanceTargetData(ObjectDataArray & objects) const
-{
-  using utils::static_obstacle_avoidance::fillAvoidanceNecessity;
-  using utils::static_obstacle_avoidance::fillObjectStoppableJudge;
-
-  // Calculate the distance needed to safely decelerate the ego vehicle to a stop line.
-  const auto & vehicle_width = planner_data_->parameters.vehicle_width;
-  const auto feasible_stop_distance = helper_->getFeasibleDecelDistance(0.0, false);
-  std::for_each(objects.begin(), objects.end(), [&, this](auto & o) {
-    fillAvoidanceNecessity(o, registered_objects_, vehicle_width, parameters_);
-    o.to_stop_line = calcDistanceToStopLine(o);
-    fillObjectStoppableJudge(o, registered_objects_, feasible_stop_distance, parameters_);
-  });
-}
-
 ObjectData StaticObstacleAvoidanceModule::createObjectData(
   const AvoidancePlanningData & data, const PredictedObject & object) const
 {
@@ -1405,8 +1392,6 @@ void StaticObstacleAvoidanceModule::updateRTCData()
 
 void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData & data) const
 {
-  using utils::static_obstacle_avoidance::createAmbiguousObjectsMarkerArray;
-  using utils::static_obstacle_avoidance::createStopTargetObjectMarkerArray;
   using utils::static_obstacle_avoidance::createTargetObjectsMarkerArray;
 
   info_marker_.markers.clear();