rename function

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Aug 14, 2024 · a27ae47 · a27ae47
1 parent e2be56d
commit a27ae47
Show file tree

Hide file tree

Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
@@ -43,9 +43,9 @@ double calc_dist_from_pose_to_terminal_end(
   const Pose & src_pose);
 
 /**
- * @brief Calculates the backward buffer distance required for safe lane changing.
+ * @brief Calculates the minimum stopping distance to terminal start.
  *
- * This function computes the minimum required backward buffer distance based on the
+ * This function computes the minimum stopping distance to terminal start based on the
  * minimum lane changing velocity and the minimum longitudinal acceleration. It then
  * compares this calculated distance with a pre-defined backward length buffer parameter
  * and returns the larger of the two values to ensure safe lane changing.
@@ -57,7 +57,7 @@ double calc_dist_from_pose_to_terminal_end(
  *
  * @return The required backward buffer distance in meters.
  */
-double calc_backward_buffer(const LCParamPtr & lc_param_ptr);
+double calc_stopping_distance(const LCParamPtr & lc_param_ptr);
 }  // namespace autoware::behavior_path_planner::utils::lane_change::calculation
 
 #endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -783,7 +783,7 @@ bool NormalLaneChange::is_near_terminal() const
   const auto min_lane_changing_distance = calcMinimumLaneChangeLength(
     route_handler_ptr, current_lanes_terminal, *lc_param_ptr, direction);
 
-  const auto backward_buffer = calculation::calc_backward_buffer(lc_param_ptr);
+  const auto backward_buffer = calculation::calc_stopping_distance(lc_param_ptr);
 
   const auto min_lc_dist_with_buffer =
     backward_buffer + min_lane_changing_distance + lc_param_ptr->lane_change_finish_judge_buffer;

diff --git a/...behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/...behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp
@@ -44,7 +44,7 @@ double calc_dist_from_pose_to_terminal_end(
   return utils::getDistanceToEndOfLane(src_pose, lanes);
 }
 
-double calc_backward_buffer(const LCParamPtr & lc_param_ptr)
+double calc_stopping_distance(const LCParamPtr & lc_param_ptr)
 {
   // v^2 = u^2 + 2ad
   const auto min_lc_vel = lc_param_ptr->minimum_lane_changing_velocity;