fix(start_planner): remove velocity factor (#1742)

Signed-off-by: satoshi-ota <[email protected]>
tier4 · Dec 26, 2024 · 153c9c8 · 153c9c8
1 parent 5250e6c
commit 153c9c8
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Showing 2 changed files with 0 additions and 35 deletions.
diff --git a/...anner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/...anner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp
@@ -201,21 +201,6 @@ class StartPlannerModule : public SceneModuleInterface
 
   bool requiresDynamicObjectsCollisionDetection() const;
 
-  uint16_t getSteeringFactorDirection(
-    const autoware::behavior_path_planner::BehaviorModuleOutput & output) const
-  {
-    switch (output.turn_signal_info.turn_signal.command) {
-      case TurnIndicatorsCommand::ENABLE_LEFT:
-        return SteeringFactor::LEFT;
-
-      case TurnIndicatorsCommand::ENABLE_RIGHT:
-        return SteeringFactor::RIGHT;
-
-      default:
-        return SteeringFactor::STRAIGHT;
-    }
-  };
-
   uint16_t getPlanningFactorDirection(
     const autoware::behavior_path_planner::BehaviorModuleOutput & output) const
   {

diff --git a/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -101,9 +101,6 @@ StartPlannerModule::StartPlannerModule(
       std::bind(&StartPlannerModule::onFreespacePlannerTimer, this),
       freespace_planner_timer_cb_group_);
   }
-
-  steering_factor_interface_.init(PlanningBehavior::START_PLANNER);
-  velocity_factor_interface_.init(PlanningBehavior::START_PLANNER);
 }
 
 void StartPlannerModule::onFreespacePlannerTimer()
@@ -744,11 +741,8 @@ BehaviorModuleOutput StartPlannerModule::plan()
 
   setDrivableAreaInfo(output);
 
-  setVelocityFactor(output.path);
-
   set_longitudinal_planning_factor(output.path);
 
-  const auto steering_factor_direction = getSteeringFactorDirection(output);
   const auto planning_factor_direction = getPlanningFactorDirection(output);
 
   if (status_.driving_forward) {
@@ -759,9 +753,6 @@ BehaviorModuleOutput StartPlannerModule::plan()
       path.points, planner_data_->self_odometry->pose.pose.position,
       status_.pull_out_path.end_pose.position);
     updateRTCStatus(start_distance, finish_distance);
-    steering_factor_interface_.set(
-      {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose},
-      {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, "");
     planning_factor_interface_->add(
       start_distance, finish_distance, status_.pull_out_path.start_pose,
       status_.pull_out_path.end_pose, planning_factor_direction, SafetyFactorArray{});
@@ -772,9 +763,6 @@ BehaviorModuleOutput StartPlannerModule::plan()
     path.points, planner_data_->self_odometry->pose.pose.position,
     status_.pull_out_path.start_pose.position);
   updateRTCStatus(0.0, distance);
-  steering_factor_interface_.set(
-    {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance},
-    steering_factor_direction, SteeringFactor::TURNING, "");
   planning_factor_interface_->add(
     0.0, distance, status_.pull_out_path.start_pose, status_.pull_out_path.end_pose,
     planning_factor_direction, SafetyFactorArray{});
@@ -860,7 +848,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
 
   setDrivableAreaInfo(output);
 
-  const auto steering_factor_direction = getSteeringFactorDirection(output);
   const auto planning_factor_direction = getPlanningFactorDirection(output);
 
   if (status_.driving_forward) {
@@ -871,10 +858,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
       stop_path.points, planner_data_->self_odometry->pose.pose.position,
       status_.pull_out_path.end_pose.position);
     updateRTCStatus(start_distance, finish_distance);
-    steering_factor_interface_.set(
-      {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose},
-      {start_distance, finish_distance}, steering_factor_direction, SteeringFactor::APPROACHING,
-      "");
     planning_factor_interface_->add(
       start_distance, finish_distance, status_.pull_out_path.start_pose,
       status_.pull_out_path.end_pose, planning_factor_direction, SafetyFactorArray{});
@@ -886,9 +869,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
     stop_path.points, planner_data_->self_odometry->pose.pose.position,
     status_.pull_out_path.start_pose.position);
   updateRTCStatus(0.0, distance);
-  steering_factor_interface_.set(
-    {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance},
-    steering_factor_direction, SteeringFactor::APPROACHING, "");
   planning_factor_interface_->add(
     0.0, distance, status_.pull_out_path.start_pose, status_.pull_out_path.end_pose,
     planning_factor_direction, SafetyFactorArray{});