Planning: Avoid duplicate code.

modules/planning/common/speed/st_boundary.cc

@@ -32,41 +32,6 @@ namespace planning {
 using apollo::common::math::LineSegment2d;
 using apollo::common::math::Vec2d;
 
-STBoundary::STBoundary(
-    const std::vector<std::pair<STPoint, STPoint>>& point_pairs) {
-  CHECK(IsValid(point_pairs)) << "The input point_pairs are NOT valid";
-
-  std::vector<std::pair<STPoint, STPoint>> reduced_pairs(point_pairs);
-  RemoveRedundantPoints(&reduced_pairs);
-
-  for (const auto& item : reduced_pairs) {
-    // use same t for both points
-    const double t = item.first.t();
-    lower_points_.emplace_back(item.first.s(), t);
-    upper_points_.emplace_back(item.second.s(), t);
-  }
-
-  for (const auto& point : lower_points_) {
-    points_.emplace_back(point.t(), point.s());
-  }
-  for (auto rit = upper_points_.rbegin(); rit != upper_points_.rend(); ++rit) {
-    points_.emplace_back(rit->t(), rit->s());
-  }
-
-  BuildFromPoints();
-
-  for (const auto& point : lower_points_) {
-    min_s_ = std::fmin(min_s_, point.s());
-  }
-  for (const auto& point : upper_points_) {
-    max_s_ = std::fmax(max_s_, point.s());
-  }
-  min_t_ = lower_points_.front().t();
-  max_t_ = lower_points_.back().t();
-
-  obstacle_road_right_ending_t_ = std::numeric_limits<double>::lowest();
-}
-
 STBoundary::STBoundary(
     const std::vector<std::pair<STPoint, STPoint>>& point_pairs,
     bool is_accurate_boundary) {

modules/planning/common/speed/st_boundary.h

@@ -45,11 +45,9 @@ class STBoundary : public common::math::Polygon2d {
    *   Each pair refers to a time t, with (lower_s, upper_s).
    */
   STBoundary() = default;
-  explicit STBoundary(
-      const std::vector<std::pair<STPoint, STPoint>>& point_pairs);
   explicit STBoundary(
       const std::vector<std::pair<STPoint, STPoint>>& point_pairs,
-      bool is_accurate_boundary);
+      bool is_accurate_boundary=false);
   explicit STBoundary(const common::math::Box2d& box) = delete;
   explicit STBoundary(std::vector<common::math::Vec2d> points) = delete;