From e15e69222430322e5504c6b2980b772dd633d9f7 Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <maxime.clement@tier4.jp>
Date: Wed, 22 Jan 2025 17:34:27 +0900
Subject: [PATCH] rm wrong file

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
---
 .../src/planner_data.cpp                      | 101 ------------------
 1 file changed, 101 deletions(-)
 delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp
deleted file mode 100644
index 15e8d4019b5fb..0000000000000
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/planner_data.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright 2024 Autoware Foundation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <autoware/motion_utils/trajectory/interpolation.hpp>
-#include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <autoware/motion_velocity_planner_common/planner_data.hpp>
-#include <autoware/universe_utils/geometry/boost_geometry.hpp>
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware_lanelet2_extension/utility/query.hpp>
-
-#include <boost/geometry.hpp>
-#include <boost/geometry/algorithms/envelope.hpp>
-
-#include <lanelet2_core/geometry/BoundingBox.h>
-#include <lanelet2_core/geometry/LineString.h>
-#include <lanelet2_core/primitives/BoundingBox.h>
-
-#include <vector>
-
-namespace autoware::motion_velocity_planner
-{
-std::optional<TrafficSignalStamped> PlannerData::get_traffic_signal(
-  const lanelet::Id id, const bool keep_last_observation) const
-{
-  const auto & traffic_light_id_map =
-    keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_;
-  if (traffic_light_id_map.count(id) == 0) {
-    return std::nullopt;
-  }
-  return std::make_optional<TrafficSignalStamped>(traffic_light_id_map.at(id));
-}
-
-std::optional<double> PlannerData::calculate_min_deceleration_distance(
-  const double target_velocity) const
-{
-  return motion_utils::calcDecelDistWithJerkAndAccConstraints(
-    current_odometry.twist.twist.linear.x, target_velocity,
-    current_acceleration.accel.accel.linear.x, velocity_smoother_->getMinDecel(),
-    std::abs(velocity_smoother_->getMinJerk()), velocity_smoother_->getMinJerk());
-}
-
-std::vector<StopPoint> calculate_stop_points(
-  const lanelet::Lanelet & lanelet,
-  const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & trajectory,
-  const universe_utils::LineString2d & trajectory_ls, const double ego_longitudinal_offset)
-{
-  std::vector<StopPoint> stop_points;
-  const auto stop_lines = lanelet::utils::query::stopLinesLanelet(lanelet);
-  for (const auto & stop_line : stop_lines) {
-    const auto stop_line_2d = lanelet::utils::to2D(stop_line).basicLineString();
-    universe_utils::MultiPoint2d intersections;
-    boost::geometry::intersection(trajectory_ls, stop_line_2d, intersections);
-    for (const auto & intersection : intersections) {
-      const auto p = geometry_msgs::msg::Point().set__x(intersection.x()).set__y(intersection.y());
-      const auto stop_line_arc_length = motion_utils::calcSignedArcLength(trajectory, 0UL, p);
-      StopPoint sp;
-      sp.ego_trajectory_arc_length = stop_line_arc_length - ego_longitudinal_offset;
-      if (sp.ego_trajectory_arc_length < 0.0) {
-        continue;
-      }
-      sp.stop_line = stop_line_2d;
-      sp.ego_stop_pose =
-        motion_utils::calcInterpolatedPose(trajectory, sp.ego_trajectory_arc_length);
-      stop_points.push_back(sp);
-    }
-  }
-  return stop_points;
-}
-
-std::vector<StopPoint> PlannerData::calculate_map_stop_points(
-  const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & trajectory) const
-{
-  std::vector<StopPoint> stop_points;
-  if (!route_handler) {
-    return stop_points;
-  }
-  universe_utils::LineString2d trajectory_ls;
-  for (const auto & p : trajectory) {
-    trajectory_ls.emplace_back(p.pose.position.x, p.pose.position.y);
-  }
-  const auto candidates = route_handler->getLaneletMapPtr()->laneletLayer.search(
-    boost::geometry::return_envelope<lanelet::BoundingBox2d>(trajectory_ls));
-  for (const auto & candidate : candidates) {
-    const auto points = calculate_stop_points(
-      candidate, trajectory, trajectory_ls, vehicle_info_.max_longitudinal_offset_m);
-    stop_points.insert(stop_points.end(), points.begin(), points.end());
-  }
-  return stop_points;
-}
-}  // namespace autoware::motion_velocity_planner