refactor(behavior_path_planner): remove planner data unused variable (#…

…5194) refactor(behavior_path_planner): remove planner data used variable Signed-off-by: Zulfaqar Azmi <[email protected]>
autowarefoundation · Oct 12, 2023 · 744d48d · 744d48d
1 parent 4ba8923
commit 744d48d
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diff --git a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
@@ -141,11 +141,9 @@ struct PlannerData
   OccupancyGrid::ConstSharedPtr costmap{};
   LateralOffset::ConstSharedPtr lateral_offset{};
   OperationModeState::ConstSharedPtr operation_mode{};
-  PathWithLaneId::SharedPtr reference_path{std::make_shared<PathWithLaneId>()};
   PathWithLaneId::SharedPtr prev_output_path{std::make_shared<PathWithLaneId>()};
   std::optional<PoseWithUuidStamped> prev_modified_goal{};
   std::optional<UUID> prev_route_id{};
-  lanelet::ConstLanelets current_lanes{};
   std::shared_ptr<RouteHandler> route_handler{std::make_shared<RouteHandler>()};
   BehaviorPathPlannerParameters parameters{};
   drivable_area_expansion::DrivableAreaExpansionParameters drivable_area_expansion_parameters{};

diff --git a/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/test/test_drivable_area_expansion.cpp
@@ -270,7 +270,6 @@ TEST(DrivableAreaExpansionProjection, expandDrivableArea)
   }
   behavior_path_planner::PlannerData planner_data;
   planner_data.drivable_area_expansion_parameters = params;
-  planner_data.reference_path = std::make_shared<drivable_area_expansion::PathWithLaneId>(path);
   planner_data.dynamic_object =
     std::make_shared<drivable_area_expansion::PredictedObjects>(dynamic_objects);
   planner_data.route_handler = std::make_shared<route_handler::RouteHandler>(route_handler);