refactor(behavior_velocity_crosswalk_module): use std::optional inste…

…ad of boost::optional

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/behavior_velocity_crosswalk_module/src/manager.hpp

@@ -29,6 +29,7 @@
 
 #include <functional>
 #include <memory>
+#include <optional>
 #include <set>
 #include <vector>
 
@@ -52,7 +53,7 @@ class CrosswalkModuleManager : public SceneModuleManagerInterfaceWithRTC
   std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
     const PathWithLaneId & path) override;
 
-  boost::optional<bool> opt_use_regulatory_element_{boost::none};
+  std::optional<bool> opt_use_regulatory_element_{std::nullopt};
 };
 
 class WalkwayModuleManager : public SceneModuleManagerInterface
@@ -70,7 +71,7 @@ class WalkwayModuleManager : public SceneModuleManagerInterface
   std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
     const PathWithLaneId & path) override;
 
-  boost::optional<bool> opt_use_regulatory_element_{boost::none};
+  std::optional<bool> opt_use_regulatory_element_{std::nullopt};
 };
 
 class CrosswalkModulePlugin : public PluginWrapper<CrosswalkModuleManager>

planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp

@@ -253,8 +253,7 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
 }
 
 // NOTE: The stop point will be the returned point with the margin.
-boost::optional<std::pair<geometry_msgs::msg::Point, double>>
-CrosswalkModule::getStopPointWithMargin(
+std::optional<std::pair<geometry_msgs::msg::Point, double>> CrosswalkModule::getStopPointWithMargin(
   const PathWithLaneId & ego_path,
   const std::vector<geometry_msgs::msg::Point> & path_intersects) const
 {
@@ -279,11 +278,11 @@ CrosswalkModule::getStopPointWithMargin(
   return {};
 }
 
-boost::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(
+std::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(
   const PathWithLaneId & ego_path, const PathWithLaneId & sparse_resample_path,
-  const boost::optional<std::pair<geometry_msgs::msg::Point, double>> & p_stop_line,
+  const std::optional<std::pair<geometry_msgs::msg::Point, double>> & p_stop_line,
   const std::vector<geometry_msgs::msg::Point> & path_intersects,
-  const boost::optional<geometry_msgs::msg::Pose> & default_stop_pose)
+  const std::optional<geometry_msgs::msg::Pose> & default_stop_pose)
 {
   const auto & ego_pos = planner_data_->current_odometry->pose.position;
   const auto & objects_ptr = planner_data_->predicted_objects;
@@ -480,8 +479,8 @@ std::pair<double, double> CrosswalkModule::clampAttentionRangeByNeighborCrosswal
 
   sortCrosswalksByDistance(ego_path, ego_pos, crosswalks);
 
-  boost::optional<lanelet::ConstLanelet> prev_crosswalk{boost::none};
-  boost::optional<lanelet::ConstLanelet> next_crosswalk{boost::none};
+  std::optional<lanelet::ConstLanelet> prev_crosswalk{std::nullopt};
+  std::optional<lanelet::ConstLanelet> next_crosswalk{std::nullopt};
 
   if (!crosswalks.empty()) {
     for (size_t i = 0; i < crosswalks.size() - 1; ++i) {
@@ -748,10 +747,10 @@ Polygon2d CrosswalkModule::getAttentionArea(
   return attention_area;
 }
 
-boost::optional<StopFactor> CrosswalkModule::checkStopForStuckedVehicles(
+std::optional<StopFactor> CrosswalkModule::checkStopForStuckedVehicles(
   const PathWithLaneId & ego_path, const std::vector<PredictedObject> & objects,
   const std::vector<geometry_msgs::msg::Point> & path_intersects,
-  const boost::optional<geometry_msgs::msg::Pose> & stop_pose) const
+  const std::optional<geometry_msgs::msg::Pose> & stop_pose) const
 {
   if (path_intersects.size() < 2 || !stop_pose) {
     return {};
@@ -789,14 +788,14 @@ boost::optional<StopFactor> CrosswalkModule::checkStopForStuckedVehicles(
   return {};
 }
 
-boost::optional<StopFactor> CrosswalkModule::getNearestStopFactor(
+std::optional<StopFactor> CrosswalkModule::getNearestStopFactor(
   const PathWithLaneId & ego_path,
-  const boost::optional<StopFactor> & stop_factor_for_crosswalk_users,
-  const boost::optional<StopFactor> & stop_factor_for_stucked_vehicles)
+  const std::optional<StopFactor> & stop_factor_for_crosswalk_users,
+  const std::optional<StopFactor> & stop_factor_for_stucked_vehicles)
 {
-  const auto get_distance_to_stop = [&](const auto stop_factor) -> boost::optional<double> {
+  const auto get_distance_to_stop = [&](const auto stop_factor) -> std::optional<double> {
     const auto & ego_pos = planner_data_->current_odometry->pose.position;
-    if (!stop_factor) return boost::none;
+    if (!stop_factor) return std::nullopt;
     return calcSignedArcLength(ego_path.points, ego_pos, stop_factor->stop_pose.position);
   };
   const auto dist_to_stop_for_crosswalk_users =
@@ -967,7 +966,7 @@ geometry_msgs::msg::Polygon CrosswalkModule::createVehiclePolygon(
 }
 
 void CrosswalkModule::planGo(
-  PathWithLaneId & ego_path, const boost::optional<StopFactor> & stop_factor)
+  PathWithLaneId & ego_path, const std::optional<StopFactor> & stop_factor)
 {
   if (!stop_factor) {
     setDistance(std::numeric_limits<double>::lowest());
@@ -988,13 +987,13 @@ void CrosswalkModule::planGo(
 }
 
 void CrosswalkModule::planStop(
-  PathWithLaneId & ego_path, const boost::optional<StopFactor> & nearest_stop_factor,
-  const boost::optional<geometry_msgs::msg::Pose> & default_stop_pose, StopReason * stop_reason)
+  PathWithLaneId & ego_path, const std::optional<StopFactor> & nearest_stop_factor,
+  const std::optional<geometry_msgs::msg::Pose> & default_stop_pose, StopReason * stop_reason)
 {
-  const auto stop_factor = [&]() -> boost::optional<StopFactor> {
+  const auto stop_factor = [&]() -> std::optional<StopFactor> {
     if (nearest_stop_factor) return *nearest_stop_factor;
     if (default_stop_pose) return createStopFactor(*default_stop_pose);
-    return boost::none;
+    return std::nullopt;
   }();
 
   if (!stop_factor) {

planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp

@@ -38,6 +38,7 @@
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <memory>
+#include <optional>
 #include <string>
 #include <unordered_map>
 #include <utility>
@@ -98,7 +99,7 @@ class CrosswalkModule : public SceneModuleInterface
     // NOTE: FULLY_STOPPED means stopped object which can be ignored.
     enum class State { STOPPED = 0, FULLY_STOPPED, OTHER };
     State state{State::OTHER};
-    boost::optional<rclcpp::Time> time_to_start_stopped{boost::none};
+    std::optional<rclcpp::Time> time_to_start_stopped{std::nullopt};
 
     void updateState(
       const rclcpp::Time & now, const double obj_vel, const bool is_ego_yielding,
@@ -123,7 +124,7 @@ class CrosswalkModule : public SceneModuleInterface
           state = State::STOPPED;
         }
       } else {
-        time_to_start_stopped = boost::none;
+        time_to_start_stopped = std::nullopt;
         state = State::OTHER;
       }
     }
@@ -182,35 +183,35 @@ class CrosswalkModule : public SceneModuleInterface
   void applySafetySlowDownSpeed(
     PathWithLaneId & output, const std::vector<geometry_msgs::msg::Point> & path_intersects);
 
-  boost::optional<std::pair<geometry_msgs::msg::Point, double>> getStopPointWithMargin(
+  std::optional<std::pair<geometry_msgs::msg::Point, double>> getStopPointWithMargin(
     const PathWithLaneId & ego_path,
     const std::vector<geometry_msgs::msg::Point> & path_intersects) const;
 
-  boost::optional<StopFactor> checkStopForCrosswalkUsers(
+  std::optional<StopFactor> checkStopForCrosswalkUsers(
     const PathWithLaneId & ego_path, const PathWithLaneId & sparse_resample_path,
-    const boost::optional<std::pair<geometry_msgs::msg::Point, double>> & p_stop_line,
+    const std::optional<std::pair<geometry_msgs::msg::Point, double>> & p_stop_line,
     const std::vector<geometry_msgs::msg::Point> & path_intersects,
-    const boost::optional<geometry_msgs::msg::Pose> & default_stop_pose);
+    const std::optional<geometry_msgs::msg::Pose> & default_stop_pose);
 
-  boost::optional<StopFactor> checkStopForStuckedVehicles(
+  std::optional<StopFactor> checkStopForStuckedVehicles(
     const PathWithLaneId & ego_path, const std::vector<PredictedObject> & objects,
     const std::vector<geometry_msgs::msg::Point> & path_intersects,
-    const boost::optional<geometry_msgs::msg::Pose> & stop_pose) const;
+    const std::optional<geometry_msgs::msg::Pose> & stop_pose) const;
 
   std::vector<CollisionPoint> getCollisionPoints(
     const PathWithLaneId & ego_path, const PredictedObject & object,
     const Polygon2d & attention_area, const std::pair<double, double> & crosswalk_attention_range);
 
-  boost::optional<StopFactor> getNearestStopFactor(
+  std::optional<StopFactor> getNearestStopFactor(
     const PathWithLaneId & ego_path,
-    const boost::optional<StopFactor> & stop_factor_for_crosswalk_users,
-    const boost::optional<StopFactor> & stop_factor_for_stucked_vehicles);
+    const std::optional<StopFactor> & stop_factor_for_crosswalk_users,
+    const std::optional<StopFactor> & stop_factor_for_stucked_vehicles);
 
-  void planGo(PathWithLaneId & ego_path, const boost::optional<StopFactor> & stop_factor);
+  void planGo(PathWithLaneId & ego_path, const std::optional<StopFactor> & stop_factor);
 
   void planStop(
-    PathWithLaneId & ego_path, const boost::optional<StopFactor> & nearest_stop_factor,
-    const boost::optional<geometry_msgs::msg::Pose> & default_stop_pose, StopReason * stop_reason);
+    PathWithLaneId & ego_path, const std::optional<StopFactor> & nearest_stop_factor,
+    const std::optional<geometry_msgs::msg::Pose> & default_stop_pose, StopReason * stop_reason);
 
   // minor functions
   std::pair<double, double> getAttentionRange(

planning/behavior_velocity_crosswalk_module/src/scene_walkway.cpp

@@ -54,7 +54,7 @@ WalkwayModule::WalkwayModule(
   }
 }
 
-boost::optional<std::pair<double, geometry_msgs::msg::Point>> WalkwayModule::getStopLine(
+std::optional<std::pair<double, geometry_msgs::msg::Point>> WalkwayModule::getStopLine(
   const PathWithLaneId & ego_path, bool & exist_stopline_in_map,
   const std::vector<geometry_msgs::msg::Point> & path_intersects) const
 {

planning/behavior_velocity_crosswalk_module/src/scene_walkway.hpp

@@ -30,6 +30,7 @@
 #include <lanelet2_routing/RoutingGraphContainer.h>
 
 #include <memory>
+#include <optional>
 #include <utility>
 #include <vector>
 
@@ -57,7 +58,7 @@ class WalkwayModule : public SceneModuleInterface
 private:
   const int64_t module_id_;
 
-  [[nodiscard]] boost::optional<std::pair<double, geometry_msgs::msg::Point>> getStopLine(
+  [[nodiscard]] std::optional<std::pair<double, geometry_msgs::msg::Point>> getStopLine(
     const PathWithLaneId & ego_path, bool & exist_stopline_in_map,
     const std::vector<geometry_msgs::msg::Point> & path_intersects) const;
 

planning/behavior_velocity_crosswalk_module/src/util.hpp

@@ -23,6 +23,7 @@
 
 #include <limits>
 #include <memory>
+#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
@@ -68,8 +69,8 @@ struct DebugData
   geometry_msgs::msg::Pose first_stop_pose;
   geometry_msgs::msg::Point nearest_collision_point;
 
-  boost::optional<geometry_msgs::msg::Point> range_near_point{boost::none};
-  boost::optional<geometry_msgs::msg::Point> range_far_point{boost::none};
+  std::optional<geometry_msgs::msg::Point> range_near_point{std::nullopt};
+  std::optional<geometry_msgs::msg::Point> range_far_point{std::nullopt};
 
   std::vector<std::pair<CollisionPoint, CollisionState>> collision_points;