Planning: Retire unused PublishableTrajectory functions.

modules/planning/common/trajectory/publishable_trajectory.cc

@@ -25,27 +25,14 @@
 namespace apollo {
 namespace planning {
 
-using common::TrajectoryPoint;
-
 PublishableTrajectory::PublishableTrajectory(
     const double header_time,
     const DiscretizedTrajectory& discretized_trajectory)
     : DiscretizedTrajectory(discretized_trajectory),
       header_time_(header_time) {}
 
-PublishableTrajectory::PublishableTrajectory(
-    const double header_time,
-    std::vector<common::TrajectoryPoint> trajectory_points) {
-  header_time_ = header_time;
-  trajectory_points_ = std::move(trajectory_points);
-}
-
 double PublishableTrajectory::header_time() const { return header_time_; }
 
-void PublishableTrajectory::set_header_time(const double header_time) {
-  header_time_ = header_time;
-}
-
 void PublishableTrajectory::PopulateTrajectoryProtobuf(
     ADCTrajectory* trajectory_pb) const {
   trajectory_pb->mutable_header()->set_timestamp_sec(header_time_);

modules/planning/common/trajectory/publishable_trajectory.h

@@ -31,19 +31,11 @@ namespace planning {
 class PublishableTrajectory : public DiscretizedTrajectory {
  public:
   PublishableTrajectory() = default;
-  explicit PublishableTrajectory(
-      const double header_time,
-      const DiscretizedTrajectory& discretized_trajectory);
-
   PublishableTrajectory(const double header_time,
-                        std::vector<common::TrajectoryPoint> trajectory_points);
-
-  virtual ~PublishableTrajectory() = default;
+                        const DiscretizedTrajectory& discretized_trajectory);
 
   double header_time() const;
 
-  void set_header_time(const double header_time);
-
   void PopulateTrajectoryProtobuf(ADCTrajectory* trajectory_pb) const;
 
  private:

modules/planning/planning.cc

@@ -287,8 +287,6 @@ common::Status Planning::Plan(
   publishable_trajectory.PrependTrajectoryPoints(
       stitching_trajectory.begin(), stitching_trajectory.end() - 1);
 
-  publishable_trajectory.set_header_time(current_time_stamp);
-
   publishable_trajectory.PopulateTrajectoryProtobuf(trajectory_pb);
   trajectory_pb->set_is_replan(stitching_trajectory.size() == 1);