fix(start_planner, goal_planner): refactor lane departure checker ini…

…tialization (#9944)
autowarefoundation · Jan 16, 2025 · 62e07a1 · 62e07a1
1 parent dd632fc
commit 62e07a1
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Showing 4 changed files with 20 additions and 8 deletions.
diff --git a/.../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp b/.../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
@@ -29,8 +29,12 @@ GeometricPullOver::GeometricPullOver(
   rclcpp::Node & node, const GoalPlannerParameters & parameters, const bool is_forward)
 : PullOverPlannerBase{node, parameters},
   parallel_parking_parameters_{parameters.parallel_parking_parameters},
-  lane_departure_checker_{
-    lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin}, vehicle_info_},
+  lane_departure_checker_{[&]() {
+    auto lane_departure_checker_params = lane_departure_checker::Param{};
+    lane_departure_checker_params.footprint_extra_margin =
+      parameters.lane_departure_check_expansion_margin;
+    return LaneDepartureChecker{lane_departure_checker_params, vehicle_info_};
+  }()},
   is_forward_{is_forward},
   left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE}
 {

diff --git a/...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
@@ -32,8 +32,12 @@ namespace autoware::behavior_path_planner
 {
 ShiftPullOver::ShiftPullOver(rclcpp::Node & node, const GoalPlannerParameters & parameters)
 : PullOverPlannerBase{node, parameters},
-  lane_departure_checker_{
-    lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin}, vehicle_info_},
+  lane_departure_checker_{[&]() {
+    auto lane_departure_checker_params = lane_departure_checker::Param{};
+    lane_departure_checker_params.footprint_extra_margin =
+      parameters.lane_departure_check_expansion_margin;
+    return LaneDepartureChecker{lane_departure_checker_params, vehicle_info_};
+  }()},
   left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE}
 {
 }

diff --git a/...avior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp b/...avior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
@@ -40,10 +40,12 @@ GeometricPullOut::GeometricPullOut(
 : PullOutPlannerBase{node, parameters, time_keeper},
   parallel_parking_parameters_{parameters.parallel_parking_parameters}
 {
+  auto lane_departure_checker_params = autoware::lane_departure_checker::Param{};
+  lane_departure_checker_params.footprint_extra_margin =
+    parameters.lane_departure_check_expansion_margin;
   lane_departure_checker_ =
     std::make_shared<autoware::lane_departure_checker::LaneDepartureChecker>(
-      autoware::lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin},
-      vehicle_info_, time_keeper_);
+      lane_departure_checker_params, vehicle_info_);
   planner_.setParameters(parallel_parking_parameters_);
 }
 

diff --git a/.../behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/.../behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp
@@ -44,10 +44,12 @@ ShiftPullOut::ShiftPullOut(
   std::shared_ptr<universe_utils::TimeKeeper> time_keeper)
 : PullOutPlannerBase{node, parameters, time_keeper}
 {
+  autoware::lane_departure_checker::Param lane_departure_checker_params;
+  lane_departure_checker_params.footprint_extra_margin =
+    parameters.lane_departure_check_expansion_margin;
   lane_departure_checker_ =
     std::make_shared<autoware::lane_departure_checker::LaneDepartureChecker>(
-      autoware::lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin},
-      vehicle_info_, time_keeper_);
+      lane_departure_checker_params, vehicle_info_, time_keeper_);
 }
 
 std::optional<PullOutPath> ShiftPullOut::plan(