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refactor(motion_utils): stop using CAPACITY from Trajectory message #5755

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Dec 8, 2023
+1 −17
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refactor(motion_utils): stop using CAPACITY from Trajectory message #5755

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7 changes: 1 addition & 6 deletions common/motion_utils/src/trajectory/tmp_conversion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,12 +36,7 @@ autoware_auto_planning_msgs::msg::Trajectory convertToTrajectory(
const std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> & trajectory)
{
autoware_auto_planning_msgs::msg::Trajectory output{};
for (const auto & pt : trajectory) {
output.points.push_back(pt);
if (output.points.size() >= output.CAPACITY) {
break;
}
}
for (const auto & pt : trajectory) output.points.push_back(pt);
return output;
}

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11 changes: 0 additions & 11 deletions common/motion_utils/test/src/trajectory/test_trajectory.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

Check notice on line 1 in common/motion_utils/test/src/trajectory/test_trajectory.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Lines of Code in a Single File 

The lines of code decreases from 4262 to 4254, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -803,17 +803,6 @@
const auto traj = convertToTrajectory(traj_input);
EXPECT_EQ(traj.points.size(), traj_input.size());
}

// Clipping check
{
const auto traj_input = generateTestTrajectoryPointArray(10000, 1.0);
const auto traj = convertToTrajectory(traj_input);
EXPECT_EQ(traj.points.size(), traj.CAPACITY);
// Value check
for (size_t i = 0; i < traj.points.size(); ++i) {
EXPECT_EQ(traj.points.at(i), traj_input.at(i));
}
}
}

TEST(trajectory, convertToTrajectoryPointArray)
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