refactor(behavior_path_planner): remove create_vehicle_footprint.hpp (a…

…utowarefoundation#6049)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -16,7 +16,6 @@
 
 #include "behavior_path_avoidance_module/data_structs.hpp"
 #include "behavior_path_avoidance_module/utils.hpp"
-#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 #include "behavior_path_planner_common/utils/traffic_light_utils.hpp"

planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/pull_over_planner_base.hpp

@@ -17,7 +17,6 @@
 
 #include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "behavior_path_planner_common/data_manager.hpp"
-#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -114,7 +113,7 @@ class PullOverPlannerBase
   PullOverPlannerBase(rclcpp::Node & node, const GoalPlannerParameters & parameters)
   {
     vehicle_info_ = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
-    vehicle_footprint_ = createVehicleFootprint(vehicle_info_);
+    vehicle_footprint_ = vehicle_info_.createFootprint();
     parameters_ = parameters;
   }
   virtual ~PullOverPlannerBase() = default;

planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp

@@ -15,7 +15,6 @@
 #include "behavior_path_goal_planner_module/goal_planner_module.hpp"
 
 #include "behavior_path_goal_planner_module/util.hpp"
-#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
@@ -94,7 +93,7 @@ GoalPlannerModule::GoalPlannerModule(
   // set selected goal searcher
   // currently there is only one goal_searcher_type
   const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
-  vehicle_footprint_ = createVehicleFootprint(vehicle_info);
+  vehicle_footprint_ = vehicle_info.createFootprint();
   goal_searcher_ =
     std::make_shared<GoalSearcher>(*parameters, vehicle_footprint_, occupancy_grid_map_);
 

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp

@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_START_PLANNER_MODULE__PULL_OUT_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner_common/data_manager.hpp"
-#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_start_planner_module/pull_out_path.hpp"
 #include "behavior_path_start_planner_module/start_planner_parameters.hpp"
 
@@ -45,7 +44,7 @@ class PullOutPlannerBase
   explicit PullOutPlannerBase(rclcpp::Node & node, const StartPlannerParameters & parameters)
   {
     vehicle_info_ = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
-    vehicle_footprint_ = createVehicleFootprint(vehicle_info_);
+    vehicle_footprint_ = vehicle_info_.createFootprint();
     parameters_ = parameters;
   }
   virtual ~PullOutPlannerBase() = default;

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -14,7 +14,6 @@
 
 #include "behavior_path_start_planner_module/start_planner_module.hpp"
 
-#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
@@ -623,7 +622,7 @@ bool StartPlannerModule::findPullOutPath(
   const auto & dynamic_objects = planner_data_->dynamic_object;
   const auto pull_out_lanes = start_planner_utils::getPullOutLanes(
     planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance);
-  const auto & vehicle_footprint = createVehicleFootprint(vehicle_info_);
+  const auto & vehicle_footprint = vehicle_info_.createFootprint();
   // extract stop objects in pull out lane for collision check
   const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity(
     *dynamic_objects, parameters_->th_moving_object_velocity);
@@ -902,7 +901,7 @@ std::vector<Pose> StartPlannerModule::searchPullOutStartPoseCandidates(
 {
   std::vector<Pose> pull_out_start_pose_candidates{};
   const auto start_pose = planner_data_->route_handler->getOriginalStartPose();
-  const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_);
+  const auto local_vehicle_footprint = vehicle_info_.createFootprint();
   const auto pull_out_lanes = start_planner_utils::getPullOutLanes(
     planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance);
   const double backward_path_length =
@@ -1356,7 +1355,7 @@ void StartPlannerModule::setDebugData() const
 
   // visualize collision_check_end_pose and footprint
   {
-    const auto local_footprint = createVehicleFootprint(vehicle_info_);
+    const auto local_footprint = vehicle_info_.createFootprint();
     const auto collision_check_end_pose = motion_utils::calcLongitudinalOffsetPose(
       getFullPath().points, status_.pull_out_path.end_pose.position,
       parameters_->collision_check_distance_from_end);

planning/behavior_path_start_planner_module/src/util.cpp

@@ -14,7 +14,6 @@
 
 #include "behavior_path_start_planner_module/util.hpp"
 
-#include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"