Fix rebase mistakes

Signed-off-by: Maxime CLEMENT <[email protected]>
tier4 · Oct 12, 2023 · 84c48e0 · 84c48e0
1 parent f9f8235
commit 84c48e0
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Showing 3 changed files with 5 additions and 143 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
@@ -18,7 +18,6 @@
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
 #include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
-#include "behavior_path_planner/utils/drivable_area_expansion/replan_checker.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>

diff --git a/...th_planner/include/behavior_path_planner/utils/drivable_area_expansion/replan_checker.hpp b/...th_planner/include/behavior_path_planner/utils/drivable_area_expansion/replan_checker.hpp
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -1006,45 +1006,22 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam(
     updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::AVOID_DYN_OBJECTS_PARAM,
       planner_data_->drivable_area_expansion_parameters.avoid_dynamic_objects);
-<<<<<<< HEAD
     updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EXPANSION_METHOD_PARAM,
-      planner_data_->drivable_area_expansion_parameters.expansion_method);
-    updated |= updateParam(
-=======
-    updateParam(
->>>>>>> 806fae180c (Big cleanup + update parameters)
       parameters, DrivableAreaExpansionParameters::AVOID_LINESTRING_TYPES_PARAM,
       planner_data_->drivable_area_expansion_parameters.avoid_linestring_types);
     updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::AVOID_LINESTRING_DIST_PARAM,
       planner_data_->drivable_area_expansion_parameters.avoid_linestring_dist);
-<<<<<<< HEAD
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EGO_EXTRA_OFFSET_FRONT,
-      planner_data_->drivable_area_expansion_parameters.ego_extra_front_offset);
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EGO_EXTRA_OFFSET_REAR,
-      planner_data_->drivable_area_expansion_parameters.ego_extra_rear_offset);
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EGO_EXTRA_OFFSET_LEFT,
-      planner_data_->drivable_area_expansion_parameters.ego_extra_left_offset);
     updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EGO_EXTRA_OFFSET_RIGHT,
-      planner_data_->drivable_area_expansion_parameters.ego_extra_right_offset);
-    updated |= updateParam(
-=======
-    updateParam(
       parameters, DrivableAreaExpansionParameters::EGO_EXTRA_FRONT_OVERHANG,
       planner_data_->drivable_area_expansion_parameters.extra_front_overhang);
-    updateParam(
+    updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::EGO_EXTRA_WHEELBASE,
       planner_data_->drivable_area_expansion_parameters.extra_wheelbase);
-    updateParam(
+    updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::EGO_EXTRA_WIDTH,
       planner_data_->drivable_area_expansion_parameters.extra_width);
-    updateParam(
->>>>>>> 806fae180c (Big cleanup + update parameters)
+    updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::DYN_OBJECTS_EXTRA_OFFSET_FRONT,
       planner_data_->drivable_area_expansion_parameters.dynamic_objects_extra_front_offset);
     updated |= updateParam(
@@ -1065,37 +1042,15 @@ SetParametersResult BehaviorPathPlannerNode::onSetParam(
     updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::RESAMPLE_INTERVAL_PARAM,
       planner_data_->drivable_area_expansion_parameters.resample_interval);
-<<<<<<< HEAD
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EXTRA_ARC_LENGTH_PARAM,
-      planner_data_->drivable_area_expansion_parameters.extra_arc_length);
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::COMPENSATE_PARAM,
-      planner_data_->drivable_area_expansion_parameters.compensate_uncrossable_lines);
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::EXTRA_COMPENSATE_PARAM,
-      planner_data_->drivable_area_expansion_parameters.compensate_extra_dist);
     updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::REPLAN_ENABLE_PARAM,
-      planner_data_->drivable_area_expansion_parameters.replan_enable);
-    updated |= updateParam(
-      parameters, DrivableAreaExpansionParameters::REPLAN_MAX_DEVIATION_PARAM,
-      planner_data_->drivable_area_expansion_parameters.replan_max_deviation);
-    updateParam(
-      parameters, DrivableAreaExpansionParameters::DEBUG_PRINT_PARAM,
-      planner_data_->drivable_area_expansion_parameters.debug_print);
-    if (updated) planner_data_->drivable_area_expansion_replan_checker.reset();
-=======
-    updateParam(
       parameters, DrivableAreaExpansionParameters::MAX_REUSE_DEVIATION_PARAM,
       planner_data_->drivable_area_expansion_parameters.max_reuse_deviation);
-    updateParam(
+    updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::SMOOTHING_CURVATURE_WINDOW_PARAM,
       planner_data_->drivable_area_expansion_parameters.curvature_average_window);
-    updateParam(
+    updated |= updateParam(
       parameters, DrivableAreaExpansionParameters::SMOOTHING_MAX_BOUND_RATE_PARAM,
       planner_data_->drivable_area_expansion_parameters.max_bound_rate);
->>>>>>> 806fae180c (Big cleanup + update parameters)
   } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
     result.successful = false;
     result.reason = e.what();