refactor(behavior_path_planner): delete unnecessary TODO (autowarefou…

…ndation#5806) delete unnecessary TODO Signed-off-by: kyoichi-sugahara <[email protected]>
Interplai · May 28, 2024 · 53a4ec6 · 53a4ec6
1 parent c227db0
commit 53a4ec6
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diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -873,7 +873,6 @@ void GoalPlannerModule::updateSteeringFactor(
     return SteeringFactor::STRAIGHT;
   });
 
-  // TODO(tkhmy) add handle status TRYING
   steering_factor_interface_ptr_->updateSteeringFactor(
     pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, "");
 }

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
@@ -372,7 +372,6 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o
   const auto finish_distance = motion_utils::calcSignedArcLength(
     output.path->points, current_position, status.lane_change_path.info.shift_line.end.position);
 
-  // TODO(tkhmy) add handle status TRYING
   steering_factor_interface_ptr_->updateSteeringFactor(
     {status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end},
     {start_distance, finish_distance}, PlanningBehavior::LANE_CHANGE, steering_factor_direction,

diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -427,7 +427,6 @@ BehaviorModuleOutput StartPlannerModule::plan()
       path.points, planner_data_->self_odometry->pose.pose.position,
       status_.pull_out_path.end_pose.position);
     updateRTCStatus(start_distance, finish_distance);
-    // TODO(tkhmy) add handle status TRYING
     steering_factor_interface_ptr_->updateSteeringFactor(
       {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose},
       {start_distance, finish_distance}, PlanningBehavior::START_PLANNER, steering_factor_direction,
@@ -437,7 +436,6 @@ BehaviorModuleOutput StartPlannerModule::plan()
       path.points, planner_data_->self_odometry->pose.pose.position,
       status_.pull_out_path.start_pose.position);
     updateRTCStatus(0.0, distance);
-    // TODO(tkhmy) add handle status TRYING
     steering_factor_interface_ptr_->updateSteeringFactor(
       {status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance},
       PlanningBehavior::START_PLANNER, steering_factor_direction, SteeringFactor::TURNING, "");