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fix(autoware_pure_pursuit): fix cppcheck unusedFunction #9276

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Nov 11, 2024
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fix(autoware_pure_pursuit): fix cppcheck unusedFunction #9276

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49 changes: 0 additions & 49 deletions control/autoware_pure_pursuit/include/autoware/pure_pursuit/util/planning_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,55 +74,6 @@ std::pair<bool, int32_t> findClosestIdxWithDistAngThr(

int8_t getLaneDirection(const std::vector<geometry_msgs::msg::Pose> & poses, double th_dist = 0.5);

// cspell: ignore pointinpoly
// refer from apache's pointinpoly in http://www.visibone.com/inpoly/
template <typename T>
bool isInPolygon(const std::vector<T> & polygon, const T & point)
{
// polygons with fewer than 3 sides are excluded
if (polygon.size() < 3) {
return false;
}

bool in_poly = false;
double x1, x2, y1, y2;

uint32_t nr_poly_points = polygon.size();
// start with the last point to make the check last point<->first point the first one
double xold = polygon.at(nr_poly_points - 1).x();
double yold = polygon.at(nr_poly_points - 1).y();
for (const auto & poly_p : polygon) {
double xnew = poly_p.x();
double ynew = poly_p.y();
if (xnew > xold) {
x1 = xold;
x2 = xnew;
y1 = yold;
y2 = ynew;
} else {
x1 = xnew;
x2 = xold;
y1 = ynew;
y2 = yold;
}

if (
(xnew < point.x()) == (point.x() <= xold) &&
(point.y() - y1) * (x2 - x1) < (y2 - y1) * (point.x() - x1)) {
in_poly = !in_poly;
}
xold = xnew;
yold = ynew;
}

return in_poly;
}

template <>
bool isInPolygon(
const std::vector<geometry_msgs::msg::Point> & polygon, const geometry_msgs::msg::Point & point);

double kmph2mps(const double velocity_kmph);
double normalizeEulerAngle(const double euler);

geometry_msgs::msg::Point transformToAbsoluteCoordinate2D(
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19 changes: 0 additions & 19 deletions control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,25 +164,6 @@ int8_t getLaneDirection(const std::vector<geometry_msgs::msg::Pose> & poses, dou
return 2;
}

template <>
bool isInPolygon(
const std::vector<geometry_msgs::msg::Point> & polygon, const geometry_msgs::msg::Point & point)
{
std::vector<tf2::Vector3> polygon_conv;
for (const auto & el : polygon) {
polygon_conv.emplace_back(el.x, el.y, el.z);
}

tf2::Vector3 point_conv = tf2::Vector3(point.x, point.y, point.z);

return isInPolygon<tf2::Vector3>(polygon_conv, point_conv);
}

double kmph2mps(const double velocity_kmph)
{
return (velocity_kmph * 1000) / (60 * 60);
}

double normalizeEulerAngle(const double euler)
{
double res = euler;
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