From 4fb0d67bbcf03af94c08019b49a06bb3c60506ba Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 29 Oct 2024 15:54:22 +0900 Subject: [PATCH] sp develop remove non approved change (#1611) Revert "feat: improve lanelet search logic in getPredictedReferencePath()" This reverts commit 5de95b01c51cabadc42cf11f83a534ff7cf4f11e. --- .../src/map_based_prediction_node.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp index 499115f07f4fc..552e51ccc1b5b 100644 --- a/perception/map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp @@ -1550,15 +1550,6 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( if (!unconnected_lanelets.empty()) { return unconnected_lanelets.front(); } - // search side of the next lanelet - const lanelet::ConstLanelets next_lanelet = routing_graph_ptr_->following(lanelet); - if (!next_lanelet.empty()) { - const auto next = get_left ? routing_graph_ptr_->left(next_lanelet.front()) - : routing_graph_ptr_->right(next_lanelet.front()); - if (!!next) { - return *next; - } - } } // if no candidate lanelet found, return empty