diff --git a/src/common/wheel_stuck_utils/include/wheel_stuck_utils/math/math.hpp b/src/common/wheel_stuck_utils/include/wheel_stuck_utils/math/math.hpp
deleted file mode 100644
index d784581..0000000
--- a/src/common/wheel_stuck_utils/include/wheel_stuck_utils/math/math.hpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#ifndef WHEEL_STUCK_UTILS__MATH__MATH_HPP_
-#define WHEEL_STUCK_UTILS__MATH__MATH_HPP_
-
-#include <algorithm>
-
-namespace wheel_stuck_utils::math
-{
-inline double clamp01(const double value)
-{
-  return std::clamp(value, 0.0, 1.0);
-}
-
-inline double lerp(const double a, const double b, const double t)
-{
-  return a + clamp01(t) * (b - a);
-}
-
-// lerpの逆関数
-inline double inverse_lerp(const double a, const double b, const double value)
-{
-  if (a != b) {
-    return clamp01((value - a) / (b - a));
-  } else {
-    return 0;  // ゼロ除算のため値を定義し得ないが、便宜上0を返す。
-  }
-}
-
-// 符号(-1, 0, 1)を返す
-inline int sign(const double i)
-{
-  return (i > 0) ? +1 : (i < 0) ? -1 : 0;
-  /*
-  if(i > 0)
-    return 1;
-  else if(i < 0)
-    return -1;
-  else
-    return 0;
-  */
-}
-
-// 可変長引数を受け取り最小値を返す
-template <typename T>
-inline T min(T a)
-{
-  return a;
-}
-
-template <typename T, typename... Args>
-inline T min(T a, Args... args)
-{
-  return std::min(a, min(args...));
-}
-
-// 可変長引数を受け取り最大値を返す
-template <typename T>
-inline T max(T b)
-{
-  return b;
-}
-
-template <typename T, typename... Args>
-inline T max(T b, Args... args)
-{
-  return std::max(b, max(args...));
-}
-
-}  // namespace wheel_stuck_utils::math
-
-#endif  // WHEEL_STUCK_UTILS__MATH__MATH_HPP_
diff --git a/src/planning/dwa_planner/include/dwa_planner/dwa_planner.hpp b/src/planning/dwa_planner/include/dwa_planner/dwa_planner.hpp
index efbddd5..d51a49a 100644
--- a/src/planning/dwa_planner/include/dwa_planner/dwa_planner.hpp
+++ b/src/planning/dwa_planner/include/dwa_planner/dwa_planner.hpp
@@ -9,6 +9,7 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
+#include <algorithm>
 #include <vector>
 
 namespace dwa_planner
@@ -72,6 +73,14 @@ class DWAPlanner : public rclcpp::Node
   double calculate_stage_cost(const State & state);
   double calculate_terminal_cost(const State & state);
 
+  inline static double lerp(const double a, const double b, double t)
+  {
+    t = std::max(0.0, std::min(1.0, t));
+    return a + t * (b - a);
+  }
+
+  rclcpp::TimerBase::SharedPtr update_timer_;
+
   OccupancyGridSubscription::SharedPtr map_sub_;
   OdometrySubscription::SharedPtr odom_sub_;
   PoseStampedSubscription::SharedPtr goal_sub_;
diff --git a/src/planning/dwa_planner/src/dwa_planner.cpp b/src/planning/dwa_planner/src/dwa_planner.cpp
index 6070a1b..396d257 100644
--- a/src/planning/dwa_planner/src/dwa_planner.cpp
+++ b/src/planning/dwa_planner/src/dwa_planner.cpp
@@ -1,7 +1,5 @@
 #include "dwa_planner/dwa_planner.hpp"
 
-#include <wheel_stuck_utils/math/math.hpp>
-
 #include <limits>
 
 namespace dwa_planner
@@ -185,10 +183,9 @@ DWAPlanner::Trajectory DWAPlanner::planning()
   Trajectory best_trajectory;
 
   for (int v = 0; v < velocity_resolution_; v++) {
-    double velocity = wheel_stuck_utils::math::lerp(
-      window.min_velocity, window.max_velocity, v * velocity_resolution_inv_);
+    double velocity = lerp(window.min_velocity, window.max_velocity, v * velocity_resolution_inv_);
     for (int a = 0; a < angular_velocity_resolution_; a++) {
-      double angular_velocity = wheel_stuck_utils::math::lerp(
+      double angular_velocity = lerp(
         window.min_angular_velocity, window.max_angular_velocity,
         a * angular_velocity_resolution_inv_);