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fix(start_planner, goal_planner): refactor lane departure checker initialization #9944

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merged 1 commit into from
Jan 16, 2025
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fix(start_planner, goal_planner): refactor lane departure checker initialization #9944

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8 changes: 6 additions & 2 deletions .../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,12 @@
rclcpp::Node & node, const GoalPlannerParameters & parameters, const bool is_forward)
: PullOverPlannerBase{node, parameters},
parallel_parking_parameters_{parameters.parallel_parking_parameters},
lane_departure_checker_{
lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin}, vehicle_info_},
lane_departure_checker_{[&]() {
auto lane_departure_checker_params = lane_departure_checker::Param{};
lane_departure_checker_params.footprint_extra_margin =
parameters.lane_departure_check_expansion_margin;

Check warning on line 35 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp#L32-L35 

Added lines #L32 - L35 were not covered by tests
return LaneDepartureChecker{lane_departure_checker_params, vehicle_info_};
}()},
is_forward_{is_forward},
left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE}
{
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8 changes: 6 additions & 2 deletions ...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,12 @@
{
ShiftPullOver::ShiftPullOver(rclcpp::Node & node, const GoalPlannerParameters & parameters)
: PullOverPlannerBase{node, parameters},
lane_departure_checker_{
lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin}, vehicle_info_},
lane_departure_checker_{[&]() {
auto lane_departure_checker_params = lane_departure_checker::Param{};
lane_departure_checker_params.footprint_extra_margin =
parameters.lane_departure_check_expansion_margin;

Check warning on line 38 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp#L35-L38 

Added lines #L35 - L38 were not covered by tests
return LaneDepartureChecker{lane_departure_checker_params, vehicle_info_};
}()},
left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE}
{
}
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6 changes: 4 additions & 2 deletions ...avior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
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Expand Up @@ -40,10 +40,12 @@ GeometricPullOut::GeometricPullOut(
: PullOutPlannerBase{node, parameters, time_keeper},
parallel_parking_parameters_{parameters.parallel_parking_parameters}
{
auto lane_departure_checker_params = autoware::lane_departure_checker::Param{};
lane_departure_checker_params.footprint_extra_margin =
parameters.lane_departure_check_expansion_margin;
lane_departure_checker_ =
std::make_shared<autoware::lane_departure_checker::LaneDepartureChecker>(
autoware::lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin},
vehicle_info_, time_keeper_);
lane_departure_checker_params, vehicle_info_);
planner_.setParameters(parallel_parking_parameters_);
}

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6 changes: 4 additions & 2 deletions .../behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,10 +44,12 @@ ShiftPullOut::ShiftPullOut(
std::shared_ptr<universe_utils::TimeKeeper> time_keeper)
: PullOutPlannerBase{node, parameters, time_keeper}
{
autoware::lane_departure_checker::Param lane_departure_checker_params;
lane_departure_checker_params.footprint_extra_margin =
parameters.lane_departure_check_expansion_margin;
lane_departure_checker_ =
std::make_shared<autoware::lane_departure_checker::LaneDepartureChecker>(
autoware::lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin},
vehicle_info_, time_keeper_);
lane_departure_checker_params, vehicle_info_, time_keeper_);
}

std::optional<PullOutPath> ShiftPullOut::plan(
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