Remove class template FieldOperatorApplicationFor<T>

Signed-off-by: yamacir-kit <[email protected]>
tier4 · Dec 13, 2024 · 9fefd58 · 9fefd58
1 parent 0b16184
commit 9fefd58
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Showing 4 changed files with 7 additions and 43 deletions.
diff --git a/external/concealer/include/concealer/field_operator_application.hpp b/external/concealer/include/concealer/field_operator_application.hpp
@@ -56,9 +56,6 @@
 
 namespace concealer
 {
-template <typename T>
-class FieldOperatorApplicationFor;
-
 #define DEFINE_STATIC_DATA_MEMBER_DETECTOR(NAME)                                    \
   template <typename T, typename = void>                                            \
   struct HasStatic##NAME : public std::false_type                                   \

diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include <boost/range/adaptor/sliced.hpp>
-#include <concealer/field_operator_application_for_autoware_universe.hpp>
+#include <concealer/field_operator_application.hpp>
 #include <concealer/has_data_member_allow_goal_modification.hpp>
 #include <concealer/has_data_member_option.hpp>
 #include <concealer/is_package_exists.hpp>
@@ -375,8 +375,8 @@ auto FieldOperatorApplication::requestAutoModeForCooperation(
     });
   } else {
     throw common::Error(
-      "FieldOperatorApplicationFor<AutowareUniverse>::requestAutoModeForCooperation is not "
-      "supported in this environment, because rtc_auto_mode_manager is present.");
+      "FieldOperatorApplication::requestAutoModeForCooperation is not supported in this "
+      "environment, because rtc_auto_mode_manager is present.");
   }
 }
 

diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp
@@ -13,8 +13,7 @@
 // limitations under the License.
 
 #include <boost/lexical_cast.hpp>
-#include <concealer/autoware_universe.hpp>
-#include <concealer/field_operator_application_for_autoware_universe.hpp>
+#include <concealer/field_operator_application.hpp>
 #include <functional>
 #include <memory>
 #include <optional>
@@ -58,12 +57,10 @@ auto EgoEntity::makeFieldOperatorApplication(
     // clang-format on
 
     return getParameter<bool>(node_parameters, "launch_autoware", true)
-             ? std::make_unique<
-                 concealer::FieldOperatorApplicationFor<concealer::AutowareUniverse>>(
+             ? std::make_unique<concealer::FieldOperatorApplication>(
                  getParameter<std::string>(node_parameters, "autoware_launch_package"),
                  getParameter<std::string>(node_parameters, "autoware_launch_file"), parameters)
-             : std::make_unique<
-                 concealer::FieldOperatorApplicationFor<concealer::AutowareUniverse>>();
+             : std::make_unique<concealer::FieldOperatorApplication>();
   } else {
     throw common::SemanticError(
       "Unexpected architecture_type ", std::quoted(architecture_type), " was given.");
@@ -117,8 +114,7 @@ auto EgoEntity::getRouteLanelets(double /*unused horizon*/) -> lanelet::Ids
   lanelet::Ids ids{};
 
   if (const auto universe =
-        dynamic_cast<concealer::FieldOperatorApplicationFor<concealer::AutowareUniverse> *>(
-          field_operator_application.get());
+        dynamic_cast<concealer::FieldOperatorApplication *>(field_operator_application.get());
       universe) {
     for (const auto & point : universe->getPathWithLaneId().points) {
       ids += point.lane_ids;