refactor(goal_planner): remove unncecessary variable (autowarefoundat…

…ion#4810) rafactor(goal_planner): remove unncecessary variable Signed-off-by: kosuke55 <[email protected]>
tier4 · Aug 31, 2023 · 053d31f · 053d31f
1 parent 8f71125
commit 053d31f
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Showing 2 changed files with 0 additions and 5 deletions.
diff --git a/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -177,7 +177,6 @@ class GoalPlannerModule : public SceneModuleInterface
 
   // for parking policy
   bool left_side_parking_{true};
-  mutable bool allow_goal_modification_{false};  // need to be set in isExecutionRequested
 
   // pre-generate lane parking paths in a separate thread
   rclcpp::TimerBase::SharedPtr lane_parking_timer_;

diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -273,10 +273,6 @@ bool GoalPlannerModule::isExecutionRequested() const
   const Pose & current_pose = planner_data_->self_odometry->pose.pose;
   const Pose & goal_pose = route_handler->getGoalPose();
 
-  // if goal is shoulder lane, allow goal modification
-  allow_goal_modification_ =
-    route_handler->isAllowedGoalModification() || checkOriginalGoalIsInShoulder();
-
   // check if goal_pose is in current_lanes.
   lanelet::ConstLanelet current_lane{};
   const lanelet::ConstLanelets current_lanes = utils::getCurrentLanes(planner_data_);