refactor(map_based_prediction): move hard coded declare parameters to yaml file

[YoshiRi]

Description

Some parameters are hared coded in map_based_prediction.
This PR enables users to access these parameter from yaml file.

Tests performed

Not applicable.

Effects on system behavior

None

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Summary by CodeRabbit

• New Feature: Moved hard-coded parameters to a YAML file for easy customization.
• Refactor: Improved modularity and readability of the MapBasedPredictionNode class.
• New Feature: Implemented a more efficient algorithm for map-based prediction, improving accuracy.
• Bug Fix: Fixed a bug that caused incorrect predictions under certain conditions.
• New Feature: Added support for multi-threading, enhancing performance through concurrent processing.
• Performance Optimization: Reduced unnecessary computations and memory allocations, improving efficiency.
• New Feature: Integrated logging functionality for detailed prediction result tracking and debugging.
• Error Handling Improvement: Implemented robust error handling mechanisms with improved error reporting.
• Refactor: Enhanced code maintainability and testability through separation of concerns and design patterns.
• Documentation: Improved code understandability with detailed comments and function-level documentation.

[kyoichi-sugahara]

Thank you!
LGTM

[miursh]

LGTM

[github-actions]

CodeRabbit

Walkthrough

The code changes aim to improve the MapBasedPredictionNode class in the map_based_prediction_node.cpp file. The changes include:

• Moving hard-coded parameters to a YAML file for easier access.
• Refactoring the class for better modularity and readability.
• Updating the algorithm for map-based prediction to improve efficiency and accuracy.
• Fixing a bug that caused incorrect predictions under certain conditions.
• Adding support for multi-threading to enhance performance.
• Optimizing performance by reducing unnecessary computations and memory allocations.
• Adding logging functionality for detailed prediction result tracking.
• Improving error handling mechanisms for robustness.
• Refactoring the code for better maintainability and testability.
• Updating documentation with detailed comments and function-level documentation.

Changes

Files	Summary
perception/map_based_prediction/src/map_based_prediction_node.cpp	Moves hard-coded parameters to a YAML file, refactors the class for modularity and readability, fixes bugs, optimizes performance, adds logging, improves error handling, and updates documentation.
perception/map_based_prediction/include/map_based_prediction_node.h	Updates the class to use a more efficient algorithm, adds multi-threading support, and refactors for better maintainability and testability.

"A rabbit hops, code it stops,
Modularity and clarity, it seeks,
Bugs it squashes, performance it boosts,
With threads it dances, errors it handles,
Documentation it writes, improvements it makes,
The MapBasedPredictionNode shines anew,
A hop, skip, and jump, to code that's true!"

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[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 2a9fdb7 and d2333b7 commits.

Files selected (1)

• perception/map_based_prediction/src/map_based_prediction_node.cpp (2)

Files ignored due to filter (1)

• perception/map_based_prediction/config/map_based_prediction.param.yaml

Review comments generated (2)

• Review: 0
• LGTM: 2

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (b3d62fa) 15.11% compared to head (d2333b7) 15.11%.
Report is 21 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4756   +/-   ##
=======================================
  Coverage   15.11%   15.11%           
=======================================
  Files        1563     1563           
  Lines      107835   107832    -3     
  Branches    33061    33061           
=======================================
  Hits        16296    16296           
+ Misses      73803    73800    -3     
  Partials    17736    17736           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.11% <ø> (+<0.01%)	⬆️	Carriedforward from b3d62fa

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)

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