From 25c154da29a10971ff1d00ea394ef3284d6f5440 Mon Sep 17 00:00:00 2001
From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Tue, 4 Apr 2023 11:11:44 +0900
Subject: [PATCH] refactor(behavior_velocity_planner): remove unused
 "findEgoIndex" (#3256)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
---
 .../scene_module/scene_module_interface.hpp   | 19 -------------------
 1 file changed, 19 deletions(-)

diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
index 2ae809dd3e776..f978ddf8d3750 100644
--- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
@@ -129,15 +129,6 @@ class SceneModuleInterface
       points, p->current_odometry->pose, p->ego_nearest_dist_threshold,
       p->ego_nearest_yaw_threshold);
   }
-
-  template <class T>
-  size_t findEgoIndex(const std::vector<T> & points) const
-  {
-    const auto & p = planner_data_;
-    return motion_utils::findFirstNearestIndexWithSoftConstraints(
-      points, p->current_odometry->pose, p->ego_nearest_dist_threshold,
-      p->ego_nearest_yaw_threshold);
-  }
 };
 
 class SceneModuleManagerInterface
@@ -310,16 +301,6 @@ class SceneModuleManagerInterface
       p->ego_nearest_yaw_threshold);
   }
 
-  template <class T>
-  size_t findEgoIndex(
-    const std::vector<T> & points, const geometry_msgs::msg::Pose & ego_pose) const
-  {
-    const auto & p = planner_data_;
-    return motion_utils::findFirstNearestIndexWithSoftConstraints(
-      points, p->current_odometry->pose, p->ego_nearest_dist_threshold,
-      p->ego_nearest_yaw_threshold);
-  }
-
   std::set<std::shared_ptr<SceneModuleInterface>> scene_modules_;
   std::set<int64_t> registered_module_id_set_;