fixup! feat(avoidance): suppress unnecessary avoidance path

autowarefoundation · Nov 18, 2023 · 2d476e8 · 2d476e8
1 parent 7b9b2da
commit 2d476e8
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Showing 2 changed files with 149 additions and 206 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
@@ -33,22 +33,6 @@ using behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygo
 
 bool isOnRight(const ObjectData & obj);
 
-bool isVehicleTypeObject(const ObjectData & object);
-
-bool isWithinCrosswalk(
-  const ObjectData & object,
-  const std::shared_ptr<const lanelet::routing::RoutingGraphContainer> & overall_graphs);
-
-bool isWithinIntersection(
-  const ObjectData & object, const std::shared_ptr<RouteHandler> & route_handler);
-
-bool isTargetObjectType(
-  const PredictedObject & object, const std::shared_ptr<AvoidanceParameters> & parameters);
-
-bool isObjectOnRoadShoulder(
-  ObjectData & object, std::shared_ptr<RouteHandler> & route_handler,
-  std::shared_ptr<AvoidanceParameters> & parameters);
-
 double calcShiftLength(
   const bool & is_object_on_right, const double & overhang_dist, const double & avoid_margin);