refactor(behavior_path_planner): create path_safety_checker directory (…

…#4644) * create safety_check directory Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * rename directory name safety_check to path_safety_checker Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * change directory name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Aug 17, 2023 · e1a86f9 · e1a86f9
1 parent 49f9d9d
commit e1a86f9
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Showing 15 changed files with 16 additions and 16 deletions.
diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt
@@ -30,7 +30,7 @@ ament_auto_add_library(behavior_path_planner_node SHARED
   src/turn_signal_decider.cpp
   src/utils/utils.cpp
   src/utils/path_utils.cpp
-  src/utils/safety_check.cpp
+  src/utils/path_safety_checker/safety_check.cpp
   src/utils/avoidance/utils.cpp
   src/utils/lane_change/utils.cpp
   src/utils/side_shift/util.cpp

diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_safety_check.md b/planning/behavior_path_planner/docs/behavior_path_planner_safety_check.md
@@ -22,7 +22,7 @@ Currently the yaw angle of each point of predicted paths of a target object does
 
 The flow of the safety check algorithm is described in the following explanations.
 
-![safety_check_flow](../image/safety_check/safety_check_flow.drawio.svg)
+![safety_check_flow](../image/path_safety_checker/safety_check_flow.drawio.svg)
 
 Here we explain each step of the algorithm flow.
 
@@ -38,7 +38,7 @@ With the interpolated pose obtained in the step.1, we check if the object and eg
 
 After the overlap check, it starts to perform the safety check for the broader range. In this step, it judges if ego or target object is in front of the other vehicle. We use arc length of the front point of each object along the given path to judge which one is in front of the other. In the following example, target object (red rectangle) is running in front of the ego vehicle (black rectangle).
 
-![front_object](../image/safety_check/front_object.drawio.svg)
+![front_object](../image/path_safety_checker/front_object.drawio.svg)
 
 #### 4. Calculate RSS distance
 
@@ -54,7 +54,7 @@ where $V_{front}$, $v_{rear}$ are front and rear vehicle velocity respectively a
 
 In this step, we compute extended ego and target object polygons. The extended polygons can be described as:
 
-![extended_polygons](../image/safety_check/extended_polygons.drawio.svg)
+![extended_polygons](../image/path_safety_checker/extended_polygons.drawio.svg)
 
 As the picture shows, we expand the rear object polygon. For the longitudinal side, we extend it with the RSS distance, and for the lateral side, we extend it by the lateral margin
 

diff --git a/...safety_check/extended_polygons.drawio.svg → ...fety_checker/extended_polygons.drawio.svg b/...safety_check/extended_polygons.drawio.svg → ...fety_checker/extended_polygons.drawio.svg
diff --git a/...mage/safety_check/front_object.drawio.svg → ...th_safety_checker/front_object.drawio.svg b/...mage/safety_check/front_object.drawio.svg → ...th_safety_checker/front_object.drawio.svg
diff --git a/...safety_check/safety_check_flow.drawio.svg → ...fety_checker/safety_check_flow.drawio.svg b/...safety_check/safety_check_flow.drawio.svg → ...fety_checker/safety_check_flow.drawio.svg
diff --git a/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
@@ -19,7 +19,7 @@
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/avoidance/helper.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
@@ -17,7 +17,7 @@
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 
 #include <algorithm>
 #include <memory>

diff --git a/..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
@@ -15,7 +15,7 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
 
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "lanelet2_core/geometry/Lanelet.h"
 
 #include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
@@ -19,7 +19,7 @@
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <route_handler/route_handler.hpp>

diff --git a/...avior_path_planner/utils/safety_check.hpp → ...tils/path_safety_checker/safety_check.hpp b/...avior_path_planner/utils/safety_check.hpp → ...tils/path_safety_checker/safety_check.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_
+#ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_
+#define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/marker_utils/utils.hpp"
@@ -147,4 +147,4 @@ bool checkCollision(
 
 }  // namespace behavior_path_planner::utils::safety_check
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__SAFETY_CHECK_HPP_
+#endif  // BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -19,7 +19,7 @@
 #include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_following/module_data.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
 #include "motion_utils/motion_utils.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"

diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -17,9 +17,9 @@
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>

diff --git a/...r_path_planner/src/utils/safety_check.cpp → ...tils/path_safety_checker/safety_check.cpp b/...r_path_planner/src/utils/safety_check.cpp → ...tils/path_safety_checker/safety_check.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 
 #include "behavior_path_planner/marker_utils/utils.hpp"
 #include "interpolation/linear_interpolation.hpp"

diff --git a/planning/behavior_path_planner/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/test/test_lane_change_utils.cpp
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <gmock/gmock.h>

diff --git a/planning/behavior_path_planner/test/test_safety_check.cpp b/planning/behavior_path_planner/test/test_safety_check.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "behavior_path_planner/marker_utils/utils.hpp"
-#include "behavior_path_planner/utils/safety_check.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <geometry_msgs/msg/pose.hpp>