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chore(build): only include forward declaration of lanelet stuff in route_handler header files #4996

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Sep 15, 2023
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chore(build): only include forward declaration of lanelet stuff in route_handler header files #4996

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4063f53
only include forward declaration of lanelet stuff in planning/route_h…
soblin Jul 23, 2023
72b9182
add maintainer
soblin Sep 14, 2023
180be62
migration fix for behavior_velocity_planner_common
soblin Sep 10, 2023
513619d
migrate
soblin Sep 14, 2023
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
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Expand Up @@ -36,7 +36,7 @@
#include <nav_msgs/msg/odometry.hpp>
#include <tier4_planning_msgs/msg/lateral_offset.hpp>

#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/primitives/Lanelet.h>

#include <limits>
#include <memory>
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3 changes: 1 addition & 2 deletions ...ning/behavior_path_planner/include/behavior_path_planner/marker_utils/avoidance/debug.hpp
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Expand Up @@ -25,8 +25,7 @@
#include <geometry_msgs/msg/polygon.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_routing/RoutingGraph.h>
#include <lanelet2_core/Forward.h>

#include <string>
#include <vector>
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4 changes: 1 addition & 3 deletions planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp
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Expand Up @@ -18,15 +18,13 @@
#include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"

#include <tier4_autoware_utils/geometry/boost_geometry.hpp>

#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
#include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
#include <geometry_msgs/msg/polygon.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/Forward.h>

#include <string>
#include <vector>
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30 changes: 3 additions & 27 deletions planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
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Expand Up @@ -21,12 +21,13 @@
#include "behavior_path_planner/utils/lane_following/module_data.hpp"
#include "tier4_autoware_utils/system/stop_watch.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
#include <tier4_planning_msgs/msg/stop_reason_array.hpp>

#include <lanelet2_core/primitives/Lanelet.h>

#include <algorithm>
#include <limits>
#include <memory>
Expand Down Expand Up @@ -279,32 +280,7 @@ class PlannerManager
* @param planner data.
* @return reference path.
*/
BehaviorModuleOutput getReferencePath(const std::shared_ptr<PlannerData> & data) const
{
const auto & route_handler = data->route_handler;
const auto & pose = data->self_odometry->pose.pose;
const auto p = data->parameters;

constexpr double extra_margin = 10.0;
const auto backward_length =
std::max(p.backward_path_length, p.backward_path_length + extra_margin);

const auto lanelet_sequence = route_handler->getLaneletSequence(
root_lanelet_.get(), pose, backward_length, std::numeric_limits<double>::max());

lanelet::ConstLanelet closest_lane{};
if (lanelet::utils::query::getClosestLaneletWithConstrains(
lanelet_sequence, pose, &closest_lane, p.ego_nearest_dist_threshold,
p.ego_nearest_yaw_threshold)) {
return utils::getReferencePath(closest_lane, data);
}

if (lanelet::utils::query::getClosestLanelet(lanelet_sequence, pose, &closest_lane)) {
return utils::getReferencePath(closest_lane, data);
}

return {}; // something wrong.
}
BehaviorModuleOutput getReferencePath(const std::shared_ptr<PlannerData> & data) const;

/**
* @brief stop and unregister the module from manager.
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2 changes: 0 additions & 2 deletions ...planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp
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Expand Up @@ -28,8 +28,6 @@
#include "behavior_path_planner/utils/utils.hpp"

#include <lane_departure_checker/lane_departure_checker.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <vehicle_info_util/vehicle_info.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/turn_signal_decider.hpp
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Expand Up @@ -22,7 +22,7 @@
#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/Forward.h>

#include <limits>
#include <map>
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3 changes: 2 additions & 1 deletion ...vior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
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Expand Up @@ -27,7 +27,8 @@
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>

#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/primitives/LineString.h>

#include <limits>
#include <memory>
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3 changes: 1 addition & 2 deletions ...ude/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
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Expand Up @@ -28,8 +28,7 @@
#include <geometry_msgs/msg/pose_array.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_routing/RoutingGraph.h>
#include <lanelet2_core/Forward.h>

#include <algorithm>
#include <memory>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp
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Expand Up @@ -26,7 +26,7 @@
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

#include <lanelet2_core/primitives/Primitive.h>
#include <lanelet2_core/Forward.h>

#include <memory>
#include <string>
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2 changes: 2 additions & 0 deletions ..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
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Expand Up @@ -21,6 +21,8 @@

#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"

#include <lanelet2_core/primitives/Lanelet.h>

#include <memory>
#include <string>
#include <unordered_map>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
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Expand Up @@ -30,7 +30,7 @@
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

#include <lanelet2_core/primitives/Primitive.h>
#include <lanelet2_core/Forward.h>

#include <memory>
#include <string>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp
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Expand Up @@ -26,7 +26,7 @@
#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
#include <geometry_msgs/msg/point.hpp>

#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/Forward.h>

#include <limits>
#include <memory>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp
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Expand Up @@ -28,7 +28,7 @@
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/twist.hpp>

#include <lanelet2_core/primitives/Primitive.h>
#include <lanelet2_core/Forward.h>

#include <memory>
#include <utility>
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3 changes: 1 addition & 2 deletions planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
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Expand Up @@ -39,8 +39,7 @@
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_array.hpp>

#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_routing/RoutingGraphContainer.h>
#include <lanelet2_core/Forward.h>
#include <tf2/utils.h>

#ifdef ROS_DISTRO_GALACTIC
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
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Expand Up @@ -20,6 +20,7 @@

#include <magic_enum.hpp>

#include <lanelet2_core/primitives/LineString.h>
#include <tf2/utils.h>

#include <string>
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6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/marker_utils/utils.cpp
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Expand Up @@ -19,9 +19,13 @@
#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"

#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/ros/marker_helper.hpp>
#include <tier4_autoware_utils/ros/uuid_helper.hpp>

#include <lanelet2_core/primitives/CompoundPolygon.h>
#include <lanelet2_core/primitives/Lanelet.h>
#include <lanelet2_core/primitives/LineString.h>

namespace marker_utils
{
using behavior_path_planner::ShiftLine;
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30 changes: 29 additions & 1 deletion planning/behavior_path_planner/src/planner_manager.cpp
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Expand Up @@ -18,7 +18,7 @@
#include "behavior_path_planner/utils/utils.hpp"
#include "tier4_autoware_utils/system/stop_watch.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <magic_enum.hpp>

#include <boost/format.hpp>
Expand Down Expand Up @@ -342,6 +342,34 @@ std::vector<SceneModulePtr> PlannerManager::getRequestModules(
return request_modules;
}

BehaviorModuleOutput PlannerManager::getReferencePath(
const std::shared_ptr<PlannerData> & data) const
{
const auto & route_handler = data->route_handler;
const auto & pose = data->self_odometry->pose.pose;
const auto p = data->parameters;

constexpr double extra_margin = 10.0;
const auto backward_length =
std::max(p.backward_path_length, p.backward_path_length + extra_margin);

const auto lanelet_sequence = route_handler->getLaneletSequence(
root_lanelet_.get(), pose, backward_length, std::numeric_limits<double>::max());

lanelet::ConstLanelet closest_lane{};
if (lanelet::utils::query::getClosestLaneletWithConstrains(
lanelet_sequence, pose, &closest_lane, p.ego_nearest_dist_threshold,
p.ego_nearest_yaw_threshold)) {
return utils::getReferencePath(closest_lane, data);
}

if (lanelet::utils::query::getClosestLanelet(lanelet_sequence, pose, &closest_lane)) {
return utils::getReferencePath(closest_lane, data);
}

return {}; // something wrong.
}

SceneModulePtr PlannerManager::selectHighestPriorityModule(
std::vector<SceneModulePtr> & request_modules) const
{
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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -32,6 +32,9 @@
#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
#include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>

#include <boost/geometry/algorithms/centroid.hpp>
#include <boost/geometry/strategies/cartesian/centroid_bashein_detmer.hpp>

#include <algorithm>
#include <limits>
#include <memory>
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3 changes: 3 additions & 0 deletions ...ing/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
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Expand Up @@ -22,6 +22,9 @@
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>

#include <lanelet2_core/geometry/Point.h>
#include <lanelet2_core/geometry/Polygon.h>

#include <algorithm>
#include <limits>
#include <memory>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
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Expand Up @@ -24,6 +24,7 @@
#include "tier4_autoware_utils/math/unit_conversion.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <magic_enum.hpp>
#include <rclcpp/rclcpp.hpp>
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4 changes: 4 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp
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Expand Up @@ -19,6 +19,10 @@
#include "behavior_path_planner/utils/path_utils.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/geometry/boost_geometry.hpp>

#include <boost/geometry/algorithms/centroid.hpp>
#include <boost/geometry/strategies/cartesian/centroid_bashein_detmer.hpp>

#include <utility>

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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Expand Up @@ -25,6 +25,9 @@
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>

#include <lanelet2_core/geometry/Point.h>
#include <lanelet2_core/geometry/Polygon.h>

#include <algorithm>
#include <limits>
#include <memory>
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5 changes: 5 additions & 0 deletions planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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Expand Up @@ -21,10 +21,15 @@
#include "behavior_path_planner/utils/start_planner/util.hpp"
#include "motion_utils/trajectory/trajectory.hpp"

#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <magic_enum.hpp>
#include <rclcpp/rclcpp.hpp>

#include <boost/geometry/algorithms/within.hpp>

#include <lanelet2_core/geometry/Lanelet.h>

#include <algorithm>
#include <memory>
#include <string>
Expand Down
1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/turn_signal_decider.cpp
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Expand Up @@ -27,6 +27,7 @@
#include <tier4_autoware_utils/math/unit_conversion.hpp>

#include <limits>
#include <queue>
#include <string>
#include <utility>

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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/utils/avoidance/utils.cpp
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Expand Up @@ -28,6 +28,8 @@

#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>

#include <lanelet2_routing/RoutingGraphContainer.h>

#include <algorithm>
#include <limits>
#include <memory>
Expand Down
5 changes: 4 additions & 1 deletion ...behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
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Expand Up @@ -22,7 +22,6 @@
#include "tier4_autoware_utils/math/unit_conversion.hpp"

#include <interpolation/spline_interpolation.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>

#ifdef ROS_DISTRO_GALACTIC
Expand All @@ -32,8 +31,12 @@
#include <tf2_eigen/tf2_eigen.hpp>

#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#include <lanelet2_core/geometry/Polygon.h>
#endif

#include <boost/geometry/algorithms/within.hpp>

#include <limits>
#include <string>
#include <utility>
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4 changes: 4 additions & 0 deletions planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
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Expand Up @@ -17,12 +17,16 @@
#include "behavior_path_planner/utils/goal_planner/util.hpp"
#include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
#include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
#include "lanelet2_extension/utility/utilities.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <boost/geometry/algorithms/union.hpp>
#include <boost/optional.hpp>

#include <lanelet2_core/geometry/Polygon.h>

#include <memory>
#include <vector>

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/utils/goal_planner/util.cpp
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Expand Up @@ -20,11 +20,11 @@
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/geometry/boost_geometry.hpp>

#include <boost/geometry/algorithms/dispatch/distance.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/primitives/Lanelet.h>
#include <tf2/utils.h>
#include <tf2_ros/transform_listener.h>

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4 changes: 3 additions & 1 deletion planning/behavior_path_planner/src/utils/lane_change/utils.cpp
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Expand Up @@ -22,7 +22,6 @@
#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <motion_utils/trajectory/interpolation.hpp>
Expand All @@ -32,6 +31,9 @@
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/geometry/LineString.h>
#include <lanelet2_core/geometry/Point.h>
#include <lanelet2_core/geometry/Polygon.h>
#include <tf2/utils.h>
#include <tf2_ros/transform_listener.h>

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