From 744d48d0e3aaf9693062b44eb4c1edabc9659f6b Mon Sep 17 00:00:00 2001
From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Thu, 12 Oct 2023 23:05:31 +0900
Subject: [PATCH] refactor(behavior_path_planner): remove planner data unused
 variable (#5194)

refactor(behavior_path_planner): remove planner data used variable

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
 .../include/behavior_path_planner/data_manager.hpp              | 2 --
 .../behavior_path_planner/test/test_drivable_area_expansion.cpp | 1 -
 2 files changed, 3 deletions(-)

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
index 0a7b59d52ff5a..7f1648c463097 100644
--- 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
index e0a16089b8d84..163221951d726 100644
--- 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);