From 49773d92d48a9dc8d35362b32e34502ecdc31256 Mon Sep 17 00:00:00 2001
From: Hayate TOBA <105347690+bathteayo@users.noreply.github.com>
Date: Fri, 6 Sep 2024 19:13:14 +0900
Subject: [PATCH] fix(autoware_frenet_planner): fix unusedFunction (#8788)

fix: unusedFunction

Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com>
---
 .../frenet_planner.hpp                        | 16 -----
 .../src/frenet_planner/frenet_planner.cpp     | 63 -------------------
 2 files changed, 79 deletions(-)

diff --git a/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp b/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp
index 0dd4c74ddbb06..e2b63f6591463 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp
+++ b/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp
@@ -25,16 +25,6 @@
 
 namespace autoware::frenet_planner
 {
-/// @brief generate trajectories relative to the reference for the given initial state and sampling
-/// parameters
-std::vector<Trajectory> generateTrajectories(
-  const autoware::sampler_common::transform::Spline2D & reference_spline,
-  const FrenetState & initial_state, const SamplingParameters & sampling_parameters);
-/// @brief generate trajectories relative to the reference for the given initial state and sampling
-/// parameters
-std::vector<Trajectory> generateLowVelocityTrajectories(
-  const autoware::sampler_common::transform::Spline2D & reference_spline,
-  const FrenetState & initial_state, const SamplingParameters & sampling_parameters);
 /// @brief generate paths relative to the reference for the given initial state and sampling
 /// parameters
 std::vector<Path> generatePaths(
@@ -51,12 +41,6 @@ Path generateCandidate(
 Trajectory generateCandidate(
   const FrenetState & initial_state, const FrenetState & target_state, const double duration,
   const double time_resolution);
-/// @brief generate a low velocity candidate trajectory
-/// @details the polynomial for lateral motion (d) is calculated over the longitudinal displacement
-/// (s) rather than over time: d(s) and s(t).
-Trajectory generateLowVelocityCandidate(
-  const FrenetState & initial_state, const FrenetState & target_state, const double duration,
-  const double time_resolution);
 /// @brief calculate the cartesian frame of the given path
 void calculateCartesian(
   const autoware::sampler_common::transform::Spline2D & reference, Path & path);
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
index 1e04db2a17eee..d53fc1cb1726f 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
+++ b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
@@ -33,45 +33,6 @@
 
 namespace autoware::frenet_planner
 {
-std::vector<Trajectory> generateTrajectories(
-  const autoware::sampler_common::transform::Spline2D & reference_spline,
-  const FrenetState & initial_state, const SamplingParameters & sampling_parameters)
-{
-  std::vector<Trajectory> trajectories;
-  trajectories.reserve(sampling_parameters.parameters.size());
-  for (const auto & parameter : sampling_parameters.parameters) {
-    auto trajectory = generateCandidate(
-      initial_state, parameter.target_state, parameter.target_duration,
-      sampling_parameters.resolution);
-    trajectory.sampling_parameter = parameter;
-    calculateCartesian(reference_spline, trajectory);
-    std::stringstream ss;
-    ss << parameter;
-    trajectory.tag = ss.str();
-    trajectories.push_back(trajectory);
-  }
-  return trajectories;
-}
-
-std::vector<Trajectory> generateLowVelocityTrajectories(
-  const autoware::sampler_common::transform::Spline2D & reference_spline,
-  const FrenetState & initial_state, const SamplingParameters & sampling_parameters)
-{
-  std::vector<Trajectory> trajectories;
-  trajectories.reserve(sampling_parameters.parameters.size());
-  for (const auto & parameter : sampling_parameters.parameters) {
-    auto trajectory = generateLowVelocityCandidate(
-      initial_state, parameter.target_state, parameter.target_duration,
-      sampling_parameters.resolution);
-    calculateCartesian(reference_spline, trajectory);
-    std::stringstream ss;
-    ss << parameter;
-    trajectory.tag = ss.str();
-    trajectories.push_back(trajectory);
-  }
-  return trajectories;
-}
-
 std::vector<Path> generatePaths(
   const autoware::sampler_common::transform::Spline2D & reference_spline,
   const FrenetState & initial_state, const SamplingParameters & sampling_parameters)
@@ -108,30 +69,6 @@ Trajectory generateCandidate(
   return trajectory;
 }
 
-Trajectory generateLowVelocityCandidate(
-  const FrenetState & initial_state, const FrenetState & target_state, const double duration,
-  const double time_resolution)
-{
-  Trajectory trajectory;
-  trajectory.longitudinal_polynomial = Polynomial(
-    initial_state.position.s, initial_state.longitudinal_velocity,
-    initial_state.longitudinal_acceleration, target_state.position.s,
-    target_state.longitudinal_velocity, target_state.longitudinal_acceleration, duration);
-  const auto delta_s = target_state.position.s - initial_state.position.s;
-  trajectory.lateral_polynomial = Polynomial(
-    initial_state.position.d, initial_state.lateral_velocity, initial_state.lateral_acceleration,
-    target_state.position.d, target_state.lateral_velocity, target_state.lateral_acceleration,
-    delta_s);
-  for (double t = 0.0; t <= duration; t += time_resolution) {
-    trajectory.times.push_back(t);
-    const auto s = trajectory.longitudinal_polynomial->position(t);
-    const auto ds = s - initial_state.position.s;
-    const auto d = trajectory.lateral_polynomial->position(ds);
-    trajectory.frenet_points.emplace_back(s, d);
-  }
-  return trajectory;
-}
-
 Path generateCandidate(
   const FrenetState & initial_state, const FrenetState & target_state, const double s_resolution)
 {