From 4259c65608c47cca3a4aa93362fc18b4831f6b21 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 11 Apr 2023 09:29:36 +0900 Subject: [PATCH 1/2] perf(avoidance): remove unnecessary sampling (#3314) * fix(avoidance): output reference path Signed-off-by: satoshi-ota * perf(avoidance): remove redundant sampling Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index cc62be1d2cbba..6c2651febd58b 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -2308,7 +2308,6 @@ bool AvoidanceModule::isSafePath( getAdjacentLane(path_shifter, forward_check_distance, backward_check_distance); auto path_with_current_velocity = shifted_path.path; - path_with_current_velocity = util::resamplePathWithSpline(path_with_current_velocity, 0.5); const size_t ego_idx = planner_data_->findEgoIndex(path_with_current_velocity.points); util::clipPathLength(path_with_current_velocity, ego_idx, forward_check_distance, 0.0); @@ -3146,6 +3145,7 @@ BehaviorModuleOutput AvoidanceModule::plan() output.path = std::make_shared(avoidance_path.path); output.reference_path = getPreviousModuleOutput().reference_path; + path_reference_ = getPreviousModuleOutput().reference_path; const size_t ego_idx = planner_data_->findEgoIndex(output.path->points); util::clipPathLength(*output.path, ego_idx, planner_data_->parameters); From 334e0663622cfeb04d3e3eda763762049fb59848 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue, 11 Apr 2023 10:43:10 +0900 Subject: [PATCH 2/2] refactor(behavior_path_planner): move utilities and rename the file (#3343) --- planning/behavior_path_planner/CMakeLists.txt | 6 +++--- .../scene_module/scene_module_interface.hpp | 2 +- .../util/lane_change/util.hpp | 2 +- .../{path_utilities.hpp => util/path_utils.hpp} | 6 +++--- .../behavior_path_planner/util/pull_over/util.hpp | 2 +- .../{utilities.hpp => util/utils.hpp} | 6 +++--- .../src/behavior_path_planner_node.cpp | 2 +- .../src/behavior_tree_manager.cpp | 2 +- .../src/marker_util/avoidance/debug.cpp | 4 ++-- .../src/marker_util/debug_utilities.cpp | 4 ++-- .../behavior_path_planner/src/planner_manager.cpp | 4 ++-- .../scene_module/avoidance/avoidance_module.cpp | 4 ++-- .../src/scene_module/avoidance_by_lc/module.cpp | 4 ++-- .../external_request_lane_change_module.cpp | 4 ++-- .../lane_change/lane_change_module.cpp | 4 ++-- .../lane_following/lane_following_module.cpp | 4 ++-- .../src/scene_module/pull_out/pull_out_module.cpp | 4 ++-- .../scene_module/pull_over/pull_over_module.cpp | 4 ++-- .../scene_module/side_shift/side_shift_module.cpp | 4 ++-- .../src/turn_signal_decider.cpp | 2 +- .../src/util/avoidance/util.cpp | 4 ++-- .../geometric_parallel_parking.cpp | 4 ++-- .../src/util/lane_change/util.cpp | 4 ++-- .../src/util/path_shifter/path_shifter.cpp | 4 ++-- .../{path_utilities.cpp => util/path_utils.cpp} | 4 ++-- .../src/util/pull_out/geometric_pull_out.cpp | 2 +- .../src/util/pull_out/shift_pull_out.cpp | 4 ++-- .../src/util/pull_out/util.cpp | 4 ++-- .../src/util/pull_over/freespace_pull_over.cpp | 2 +- .../src/util/pull_over/geometric_pull_over.cpp | 2 +- .../src/util/pull_over/goal_searcher.cpp | 2 +- .../src/util/pull_over/shift_pull_over.cpp | 2 +- .../src/util/pull_over/util.cpp | 2 +- .../src/util/side_shift/util.cpp | 2 +- .../src/{utilities.cpp => util/utils.cpp} | 14 +++++++------- planning/behavior_path_planner/test/input.hpp | 2 +- .../test/{test_utilities.cpp => test_utils.cpp} | 2 +- planning/static_centerline_optimizer/src/utils.cpp | 2 +- 38 files changed, 68 insertions(+), 68 deletions(-) rename planning/behavior_path_planner/include/behavior_path_planner/{path_utilities.hpp => util/path_utils.hpp} (95%) rename planning/behavior_path_planner/include/behavior_path_planner/{utilities.hpp => util/utils.hpp} (99%) rename planning/behavior_path_planner/src/{path_utilities.cpp => util/path_utils.cpp} (99%) rename planning/behavior_path_planner/src/{utilities.cpp => util/utils.cpp} (99%) rename planning/behavior_path_planner/test/{test_utilities.cpp => test_utils.cpp} (99%) diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index d96ee32da2535..4e7b7f9a93957 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -10,8 +10,6 @@ find_package(magic_enum CONFIG REQUIRED) set(COMPILE_WITH_OLD_ARCHITECTURE TRUE) set(common_src - src/utilities.cpp - src/path_utilities.cpp src/steering_factor_interface.cpp src/behavior_path_planner_node.cpp src/scene_module/scene_module_visitor.cpp @@ -23,6 +21,8 @@ set(common_src src/scene_module/lane_change/lane_change_module.cpp src/scene_module/lane_change/external_request_lane_change_module.cpp src/turn_signal_decider.cpp + src/util/utils.cpp + src/util/path_utils.cpp src/util/safety_check.cpp src/util/avoidance/util.cpp src/util/lane_change/util.cpp @@ -91,7 +91,7 @@ rclcpp_components_register_node(behavior_path_planner_node if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_${CMAKE_PROJECT_NAME}_utilities test/input.cpp - test/test_utilities.cpp + test/test_utils.cpp test/test_drivable_area_expansion.cpp ) target_link_libraries(test_${CMAKE_PROJECT_NAME}_utilities diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp index 52a7e71b760d8..2612201ed7b15 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp @@ -18,7 +18,7 @@ #include "behavior_path_planner/data_manager.hpp" #include "behavior_path_planner/module_status.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp index 3ee2982548e4d..bd454183fd5d8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp @@ -19,7 +19,7 @@ #include "behavior_path_planner/parameters.hpp" #include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp" #include "behavior_path_planner/util/lane_change/lane_change_path.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/path_utils.hpp similarity index 95% rename from planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp rename to planning/behavior_path_planner/include/behavior_path_planner/util/path_utils.hpp index 2e417c13c60fe..2c488ccb52d14 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/path_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_ -#define BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_ +#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_ #include "behavior_path_planner/util/path_shifter/path_shifter.hpp" @@ -94,4 +94,4 @@ std::vector interpolatePose( } // namespace behavior_path_planner::util -#endif // BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_ +#endif // BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp index 99c01cfab1e27..9a6d528ddfe4c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp @@ -16,7 +16,7 @@ #define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__UTIL_HPP_ #include "behavior_path_planner/util/pull_over/goal_searcher_base.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/utils.hpp similarity index 99% rename from planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp rename to planning/behavior_path_planner/include/behavior_path_planner/util/utils.hpp index b5e1f22b21cbd..48db5bb9b3448 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_ -#define BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_ +#ifndef BEHAVIOR_PATH_PLANNER__UTIL__UTILS_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTIL__UTILS_HPP_ #include "behavior_path_planner/data_manager.hpp" #include "behavior_path_planner/marker_util/debug_utilities.hpp" @@ -351,4 +351,4 @@ lanelet::ConstLanelets getLaneletsFromPath( std::string convertToSnakeCase(const std::string & input_str); } // namespace behavior_path_planner::util -#endif // BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_ +#endif // BEHAVIOR_PATH_PLANNER__UTIL__UTILS_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 2dd1b8f153e86..804498a99915e 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include "behavior_path_planner/marker_util/debug_utilities.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/drivable_area_expansion/map_utils.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/behavior_tree_manager.cpp b/planning/behavior_path_planner/src/behavior_tree_manager.cpp index 7ea07a1597973..c3f17563d0877 100644 --- a/planning/behavior_path_planner/src/behavior_tree_manager.cpp +++ b/planning/behavior_path_planner/src/behavior_tree_manager.cpp @@ -17,7 +17,7 @@ #include "behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp" #include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp index 107c9a4d88094..0e9fdeaec428e 100644 --- a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/marker_util/avoidance/debug.hpp" -#include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp b/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp index e6f6e011f08aa..8ec72388ff05a 100644 --- a/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp +++ b/planning/behavior_path_planner/src/marker_util/debug_utilities.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/marker_util/debug_utilities.hpp" -#include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 2e94522fb3183..ddcd802989e2b 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/planner_manager.hpp" -#include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 6c2651febd58b..175bd93ba0936 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -15,10 +15,10 @@ #include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp" #include "behavior_path_planner/marker_util/avoidance/debug.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/util/avoidance/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp index 8138bc379c967..2f9004685f6c7 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp @@ -14,13 +14,13 @@ #include "behavior_path_planner/scene_module/avoidance_by_lc/module.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/turn_signal_decider.hpp" #include "behavior_path_planner/util/avoidance/util.hpp" #include "behavior_path_planner/util/lane_change/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp index 3f19a0edb7f30..51b8b2d56162e 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp @@ -14,11 +14,11 @@ #include "behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/turn_signal_decider.hpp" #include "behavior_path_planner/util/lane_change/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index e45923e0b7a9b..a54e6630ab7ca 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -14,11 +14,11 @@ #include "behavior_path_planner/scene_module/lane_change/lane_change_module.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/turn_signal_decider.hpp" #include "behavior_path_planner/util/lane_change/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp index a76fc79601cb5..b5744fa72707b 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp" -#include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp index 794ba5bf872df..03bbb1628588c 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp @@ -14,10 +14,10 @@ #include "behavior_path_planner/scene_module/pull_out/pull_out_module.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/create_vehicle_footprint.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_out/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index 531858d1192fc..2c016914f58d2 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp @@ -14,11 +14,11 @@ #include "behavior_path_planner/scene_module/pull_over/pull_over_module.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/create_vehicle_footprint.hpp" #include "behavior_path_planner/util/path_shifter/path_shifter.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_over/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index 68d187dcebcbf..0dc99349a85e7 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -14,9 +14,9 @@ #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp" -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/side_shift/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp index a6587f9f54325..8eec32bdd3f9b 100644 --- a/planning/behavior_path_planner/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp @@ -14,7 +14,7 @@ #include "behavior_path_planner/turn_signal_decider.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/util/avoidance/util.cpp b/planning/behavior_path_planner/src/util/avoidance/util.cpp index e57594b771ee4..1fe0a8d22ede6 100644 --- a/planning/behavior_path_planner/src/util/avoidance/util.cpp +++ b/planning/behavior_path_planner/src/util/avoidance/util.cpp @@ -14,9 +14,9 @@ #include "behavior_path_planner/util/avoidance/util.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp index 621190574eeec..76c9ec1bc6a84 100644 --- a/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp" -#include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index 1dfef832ea3f5..7353542ecb6c0 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -15,12 +15,12 @@ #include "behavior_path_planner/util/lane_change/util.hpp" #include "behavior_path_planner/parameters.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp" #include "behavior_path_planner/util/lane_change/lane_change_path.hpp" #include "behavior_path_planner/util/path_shifter/path_shifter.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/safety_check.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp index 5fcd7d892badd..b77e1689f4e44 100644 --- a/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/util/path_shifter/path_shifter.hpp" -#include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/path_utilities.cpp b/planning/behavior_path_planner/src/util/path_utils.cpp similarity index 99% rename from planning/behavior_path_planner/src/path_utilities.cpp rename to planning/behavior_path_planner/src/util/path_utils.cpp index a5f4652cab8fc..2b959d682b409 100644 --- a/planning/behavior_path_planner/src/path_utilities.cpp +++ b/planning/behavior_path_planner/src/util/path_utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp b/planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp index 97394292d93af..ae7e27504c8d9 100644 --- a/planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp +++ b/planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp @@ -15,7 +15,7 @@ #include "behavior_path_planner/util/pull_out/geometric_pull_out.hpp" #include "behavior_path_planner/util/pull_out/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp b/planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp index 7b2cd0e8faa43..c72afdebe4284 100644 --- a/planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp @@ -14,9 +14,9 @@ #include "behavior_path_planner/util/pull_out/shift_pull_out.hpp" -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_out/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/util/pull_out/util.cpp b/planning/behavior_path_planner/src/util/pull_out/util.cpp index 3f19ce49cba0d..d052254d7767d 100644 --- a/planning/behavior_path_planner/src/util/pull_out/util.cpp +++ b/planning/behavior_path_planner/src/util/pull_out/util.cpp @@ -14,10 +14,10 @@ #include "behavior_path_planner/util/pull_out/util.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/create_vehicle_footprint.hpp" #include "behavior_path_planner/util/path_shifter/path_shifter.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" +#include "behavior_path_planner/util/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp b/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp index 69e71a54d0b34..2692a09016405 100644 --- a/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp @@ -14,7 +14,7 @@ #include "behavior_path_planner/util/pull_over/freespace_pull_over.hpp" -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_over/util.hpp" #include diff --git a/planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp b/planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp index a38733d89bd81..1d8c01db27ac7 100644 --- a/planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp @@ -14,7 +14,7 @@ #include "behavior_path_planner/util/pull_over/geometric_pull_over.hpp" -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_over/util.hpp" #include diff --git a/planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp b/planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp index 5631022fd5c0b..1a0cb2a25e950 100644 --- a/planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp +++ b/planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp @@ -14,7 +14,7 @@ #include "behavior_path_planner/util/pull_over/goal_searcher.hpp" -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_over/util.hpp" #include "lanelet2_extension/utility/utilities.hpp" diff --git a/planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp b/planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp index 6ba2ae6c52145..8c095c3918fab 100644 --- a/planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/util/pull_over/shift_pull_over.cpp @@ -14,7 +14,7 @@ #include "behavior_path_planner/util/pull_over/shift_pull_over.hpp" -#include "behavior_path_planner/path_utilities.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include "behavior_path_planner/util/pull_over/util.hpp" #include diff --git a/planning/behavior_path_planner/src/util/pull_over/util.cpp b/planning/behavior_path_planner/src/util/pull_over/util.cpp index 2307c2cb8ebda..c7a5cc2531287 100644 --- a/planning/behavior_path_planner/src/util/pull_over/util.cpp +++ b/planning/behavior_path_planner/src/util/pull_over/util.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/util/pull_over/util.hpp" -#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/util/path_shifter/path_shifter.hpp" +#include "behavior_path_planner/util/path_utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/util/side_shift/util.cpp b/planning/behavior_path_planner/src/util/side_shift/util.cpp index cfe99ba3b15f9..28e6027a50888 100644 --- a/planning/behavior_path_planner/src/util/side_shift/util.cpp +++ b/planning/behavior_path_planner/src/util/side_shift/util.cpp @@ -14,7 +14,7 @@ #include "behavior_path_planner/util/side_shift/util.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/util/utils.cpp similarity index 99% rename from planning/behavior_path_planner/src/utilities.cpp rename to planning/behavior_path_planner/src/util/utils.cpp index 4fbafc0bb2728..a1089a0d14543 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/util/utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include "behavior_path_planner/util/drivable_area_expansion/drivable_area_expansion.hpp" #include "motion_utils/trajectory/path_with_lane_id.hpp" @@ -524,7 +524,7 @@ bool setGoal( return true; } catch (std::out_of_range & ex) { RCLCPP_ERROR_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("utilities"), + rclcpp::get_logger("behavior_path_planner").get_child("utils"), "failed to set goal: " << ex.what()); return false; } @@ -1337,7 +1337,7 @@ double getSignedDistanceFromShoulderLeftBoundary( } else { RCLCPP_ERROR_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("utilities"), + rclcpp::get_logger("behavior_path_planner").get_child("utils"), "closest shoulder lanelet not found."); } @@ -1391,7 +1391,7 @@ std::optional getSignedDistanceFromShoulderLeftBoundary( if (!found_neighbor_shoulder_bound) { RCLCPP_ERROR_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("utilities"), + rclcpp::get_logger("behavior_path_planner").get_child("utils"), "neighbor shoulder bound to footprint is not found."); return {}; } @@ -1411,7 +1411,7 @@ double getSignedDistanceFromRightBoundary( right_line_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); } else { RCLCPP_ERROR_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("utilities"), + rclcpp::get_logger("behavior_path_planner").get_child("utils"), "closest shoulder lanelet not found."); } @@ -1511,7 +1511,7 @@ std::shared_ptr generateCenterLinePath( lanelet::ConstLanelet current_lane; if (!route_handler->getClosestLaneletWithinRoute(pose, ¤t_lane)) { RCLCPP_ERROR( - rclcpp::get_logger("behavior_path_planner").get_child("utilities"), + rclcpp::get_logger("behavior_path_planner").get_child("utils"), "failed to find closest lanelet within route!!!"); return {}; // TODO(Horibe) What should be returned? } @@ -1548,7 +1548,7 @@ lanelet::ConstLineStrings3d getMaximumDrivableArea( lanelet::ConstLanelet current_lane; if (!route_handler->getClosestLaneletWithinRoute(ego_pose, ¤t_lane)) { RCLCPP_ERROR( - rclcpp::get_logger("behavior_path_planner").get_child("utilities"), + rclcpp::get_logger("behavior_path_planner").get_child("utils"), "failed to find closest lanelet within route!!!"); return {}; } diff --git a/planning/behavior_path_planner/test/input.hpp b/planning/behavior_path_planner/test/input.hpp index ac2c3e75ddadc..cd423dd9b3bb9 100644 --- a/planning/behavior_path_planner/test/input.hpp +++ b/planning/behavior_path_planner/test/input.hpp @@ -16,7 +16,7 @@ #define INPUT_HPP_ #endif // INPUT_HPP_ -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include "autoware_auto_planning_msgs/msg/path_point.hpp" #include "geometry_msgs/msg/twist.hpp" diff --git a/planning/behavior_path_planner/test/test_utilities.cpp b/planning/behavior_path_planner/test/test_utils.cpp similarity index 99% rename from planning/behavior_path_planner/test/test_utilities.cpp rename to planning/behavior_path_planner/test/test_utils.cpp index c86d58217ad0e..323151686d01d 100644 --- a/planning/behavior_path_planner/test/test_utilities.cpp +++ b/planning/behavior_path_planner/test/test_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/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include "input.hpp" #include "lanelet2_core/Attribute.h" #include "lanelet2_core/geometry/Point.h" diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp index 2441945567657..8c75186ae5919 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_optimizer/src/utils.cpp @@ -15,7 +15,7 @@ #include "static_centerline_optimizer/utils.hpp" #include "behavior_path_planner/data_manager.hpp" -#include "behavior_path_planner/utilities.hpp" +#include "behavior_path_planner/util/utils.hpp" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" namespace static_centerline_optimizer