From 8a4e9e0284258d3c4a12bc38bb3befb26b63a948 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 8 Dec 2023 15:00:57 +0900 Subject: [PATCH] refactor(motion_utils): stop using CAPACITY from Trajectory message (#5755) Signed-off-by: Maxime CLEMENT --- common/motion_utils/src/trajectory/tmp_conversion.cpp | 7 +------ .../test/src/trajectory/test_trajectory.cpp | 11 ----------- 2 files changed, 1 insertion(+), 17 deletions(-) diff --git a/common/motion_utils/src/trajectory/tmp_conversion.cpp b/common/motion_utils/src/trajectory/tmp_conversion.cpp index 5c907a5926046..18705637a8387 100644 --- a/common/motion_utils/src/trajectory/tmp_conversion.cpp +++ b/common/motion_utils/src/trajectory/tmp_conversion.cpp @@ -36,12 +36,7 @@ autoware_auto_planning_msgs::msg::Trajectory convertToTrajectory( const std::vector & trajectory) { autoware_auto_planning_msgs::msg::Trajectory output{}; - for (const auto & pt : trajectory) { - output.points.push_back(pt); - if (output.points.size() >= output.CAPACITY) { - break; - } - } + for (const auto & pt : trajectory) output.points.push_back(pt); return output; } diff --git a/common/motion_utils/test/src/trajectory/test_trajectory.cpp b/common/motion_utils/test/src/trajectory/test_trajectory.cpp index 1786586ec39a8..22567b569d0ad 100644 --- a/common/motion_utils/test/src/trajectory/test_trajectory.cpp +++ b/common/motion_utils/test/src/trajectory/test_trajectory.cpp @@ -803,17 +803,6 @@ TEST(trajectory, convertToTrajectory) const auto traj = convertToTrajectory(traj_input); EXPECT_EQ(traj.points.size(), traj_input.size()); } - - // Clipping check - { - const auto traj_input = generateTestTrajectoryPointArray(10000, 1.0); - const auto traj = convertToTrajectory(traj_input); - EXPECT_EQ(traj.points.size(), traj.CAPACITY); - // Value check - for (size_t i = 0; i < traj.points.size(); ++i) { - EXPECT_EQ(traj.points.at(i), traj_input.at(i)); - } - } } TEST(trajectory, convertToTrajectoryPointArray)