removed unused sampler class.

modules/planning/optimizer/qp_spline_path/BUILD

@@ -8,13 +8,11 @@ cc_library(
         "qp_frenet_frame.cc",
         "qp_spline_path_generator.cc",
         "qp_spline_path_optimizer.cc",
-        "qp_spline_path_sampler.cc",
     ],
     hdrs = [
         "qp_frenet_frame.h",
         "qp_spline_path_generator.h",
         "qp_spline_path_optimizer.h",
-        "qp_spline_path_sampler.h",
     ],
     deps = [
         "//modules/common/configs:vehicle_config_helper",
@@ -26,7 +24,7 @@ cc_library(
         "//modules/planning/common:decision_data",
         "//modules/planning/common:obstacle",
         "//modules/planning/common:planning_data",
-        "//modules/planning/common:planning_gflags",        
+        "//modules/planning/common:planning_gflags",
         "//modules/planning/common/path:discretized_path",
         "//modules/planning/common/path:frenet_frame_path",
         "//modules/planning/common/path:path_data",

modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc

@@ -32,7 +32,6 @@
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/math/double.h"
 #include "modules/planning/math/sl_analytic_transformation.h"
-#include "modules/planning/optimizer/qp_spline_path/qp_spline_path_sampler.h"
 
 namespace apollo {
 namespace planning {

modules/planning/optimizer/qp_spline_path/qp_spline_path_sampler.cc

-/******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file qp_spline_path_simple_sampler.cc
- **/
-
-#include "modules/planning/optimizer/qp_spline_path/qp_spline_path_sampler.h"
-
-#include <algorithm>
-
-#include "modules/planning/common/planning_gflags.h"
-#include "modules/planning/math/double.h"
-
-namespace apollo {
-namespace planning {
-
-QpSplinePathSampler::QpSplinePathSampler(const QpSplinePathConfig& config)
-    : config_(config) {}
-
-bool QpSplinePathSampler::Sample(const common::FrenetFramePoint& init_point,
-                                 const ReferenceLine& reference_line,
-                                 const double s_lower_bound,
-                                 const double s_upper_bound,
-                                 std::vector<double>* const sampling_point) {
-  double sampling_distance =
-      std::min(reference_line.map_path().length(), s_upper_bound) -
-      init_point.s();
-  sampling_distance = std::min(sampling_distance, FLAGS_planning_distance);
-
-  if (Double::compare(sampling_distance, 0.0) <= 0) {
-    AERROR << "Failed to allocate init trajectory point SL("
-           << init_point.ShortDebugString() << ") on target lane with length "
-           << reference_line.map_path().length();
-    return false;
-  }
-
-  if (s_lower_bound > init_point.s()) {
-    AERROR << "The coordinate system s lower bound " << s_lower_bound
-           << " is greater than projected car position " << init_point.s();
-    return false;
-  }
-
-  double start_s = init_point.s();
-  sampling_point->emplace_back(start_s);
-
-  // map sampling point
-  if (config_.number_of_knots() == 0) {
-    AERROR << "sampling point shall greater than 0";
-    return false;
-  }
-  const double delta_s = sampling_distance / config_.number_of_knots();
-
-  double s = start_s + delta_s;
-  for (uint32_t i = 1; i <= config_.number_of_knots(); ++i) {
-    sampling_point->emplace_back(s);
-    s += delta_s;
-  }
-  return true;
-}
-}  // namespace planning
-}  // namespace apollo

modules/planning/optimizer/qp_spline_path/qp_spline_path_sampler.h

-/******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file qp_spline_path_sampler.h
- **/
-
-#ifndef MODULES_PLANNING_OPTIMIZER_QP_SPLINE_PATH_QP_SPLINE_PATH_SAMPLER_H_
-#define MODULES_PLANNING_OPTIMIZER_QP_SPLINE_PATH_QP_SPLINE_PATH_SAMPLER_H_
-
-#include "modules/common/proto/pnc_point.pb.h"
-#include "modules/planning/proto/qp_spline_path_config.pb.h"
-
-#include "modules/planning/reference_line/reference_line.h"
-
-namespace apollo {
-namespace planning {
-
-class QpSplinePathSampler {
- public:
-  explicit QpSplinePathSampler(const QpSplinePathConfig& config);
-  bool Sample(const common::FrenetFramePoint& init_point,
-              const ReferenceLine& reference_line, const double s_lower_bound,
-              const double s_upper_bound,
-              std::vector<double>* const sampling_point);
-
- private:
-  const QpSplinePathConfig config_;
-};
-
-}  // namespace planning
-}  // namespace apollo
-
-#endif  // MODULES_PLANNING_OPTIMIZER_QP_SPLINE_PATH_QP_SPLINE_PATH_SAMPLER_H_