remove LC specific functions from route handler

Signed-off-by: Mohammad <alqudah.mohammad@tier4.jp>

Author: mkquda

planning/autoware_route_handler/include/autoware/route_handler/route_handler.hpp

@@ -311,10 +311,6 @@ class RouteHandler
     const lanelet::ConstLanelets & lanelet_sequence,
     const size_t piecewise_waypoints_lanelet_sequence_index,
     const bool is_removing_direction_forward) const;
-  std::optional<lanelet::ConstLanelet> getLaneChangeTarget(
-    const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const;
-  std::optional<lanelet::ConstLanelet> getLaneChangeTargetExceptPreferredLane(
-    const lanelet::ConstLanelets & lanelets, const Direction direction) const;
   std::optional<lanelet::ConstLanelet> getPullOverTarget(const Pose & goal_pose) const;
   std::optional<lanelet::ConstLanelet> getPullOutStartLane(
     const Pose & pose, const double vehicle_width) const;

planning/autoware_route_handler/src/route_handler.cpp

@@ -1481,68 +1481,6 @@ std::vector<lanelet::ConstLanelets> RouteHandler::getPrecedingLaneletSequence(
     lanelet, routing_graph_ptr_, length, exclude_lanelets);
 }
 
-std::optional<lanelet::ConstLanelet> RouteHandler::getLaneChangeTarget(
-  const lanelet::ConstLanelets & lanelets, const Direction direction) const
-{
-  for (const auto & lanelet : lanelets) {
-    const int num = getNumLaneToPreferredLane(lanelet, direction);
-    if (num == 0) {
-      continue;
-    }
-
-    if (direction == Direction::NONE || direction == Direction::RIGHT) {
-      if (num < 0) {
-        const auto right_lanes = routing_graph_ptr_->right(lanelet);
-        if (!!right_lanes) {
-          return *right_lanes;
-        }
-      }
-    }
-
-    if (direction == Direction::NONE || direction == Direction::LEFT) {
-      if (num > 0) {
-        const auto left_lanes = routing_graph_ptr_->left(lanelet);
-        if (!!left_lanes) {
-          return *left_lanes;
-        }
-      }
-    }
-  }
-
-  return std::nullopt;
-}
-
-std::optional<lanelet::ConstLanelet> RouteHandler::getLaneChangeTargetExceptPreferredLane(
-  const lanelet::ConstLanelets & lanelets, const Direction direction) const
-{
-  for (const auto & lanelet : lanelets) {
-    if (direction == Direction::RIGHT) {
-      // Get right lanelet if preferred lane is on the left
-      if (getNumLaneToPreferredLane(lanelet, direction) < 0) {
-        continue;
-      }
-
-      const auto right_lanes = routing_graph_ptr_->right(lanelet);
-      if (!!right_lanes) {
-        return *right_lanes;
-      }
-    }
-
-    if (direction == Direction::LEFT) {
-      // Get left lanelet if preferred lane is on the right
-      if (getNumLaneToPreferredLane(lanelet, direction) > 0) {
-        continue;
-      }
-      const auto left_lanes = routing_graph_ptr_->left(lanelet);
-      if (!!left_lanes) {
-        return *left_lanes;
-      }
-    }
-  }
-
-  return std::nullopt;
-}
-
 std::optional<lanelet::ConstLanelet> RouteHandler::getPullOverTarget(const Pose & goal_pose) const
 {
   const lanelet::BasicPoint2d p(goal_pose.position.x, goal_pose.position.y);

planning/autoware_route_handler/test/test_route_handler.cpp

@@ -266,38 +266,6 @@ TEST_F(TestRouteHandler, getClosestLaneletWithinRouteWhenPointsInRoute)
   ASSERT_EQ(get_closest_lanelet_within_route(0.5, 1.75, 0).value(), 4424ul);
 }
 
-TEST_F(TestRouteHandler, testGetLaneChangeTargetLanes)
-{
-  {
-    // The input is within expectation.
-    // There exist no lane changing lane since both 4770 and 4775 are preferred lane.
-    const auto current_lanes = route_handler_->getLaneletsFromIds({4770, 4775});
-    const auto lane_change_lane =
-      route_handler_->getLaneChangeTarget(current_lanes, Direction::RIGHT);
-    ASSERT_FALSE(lane_change_lane.has_value());
-  }
-
-  {
-    // The input is within expectation.
-    // There exist lane changing lane since 4424 is subset of preferred lane 9598.
-    const auto current_lanes = route_handler_->getLaneletsFromIds({4775, 4424});
-    const auto lane_change_lane =
-      route_handler_->getLaneChangeTarget(current_lanes, Direction::RIGHT);
-    EXPECT_TRUE(lane_change_lane.has_value());
-    ASSERT_EQ(lane_change_lane.value().id(), 9598ul);
-  }
-
-  {
-    // The input is within expectation.
-    // There is a lane-changing lane. Within the maximum current lanes, there is an alternative lane
-    // to the preferred lane. Therefore, the lane-changing lane exists.
-    const auto current_lanes = get_current_lanes();
-    const auto lane_change_lane = route_handler_->getLaneChangeTarget(current_lanes);
-    ASSERT_TRUE(lane_change_lane.has_value());
-    ASSERT_EQ(lane_change_lane.value().id(), 9598ul);
-  }
-}
-
 TEST_F(TestRouteHandler, testGetShoulderLaneletsAtPose)
 {
   set_route_handler("overlap_map.osm");