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[pull] main from autowarefoundation:main #363

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Apr 11, 2023
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[pull] main from autowarefoundation:main #363

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4259c65
perf(avoidance): remove unnecessary sampling (#3314)
satoshi-ota Apr 11, 2023
334e066
refactor(behavior_path_planner): move utilities and rename the file (…
purewater0901 Apr 11, 2023
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6 changes: 3 additions & 3 deletions planning/behavior_path_planner/CMakeLists.txt
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Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion ...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
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Expand Up @@ -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 <behavior_path_planner/steering_factor_interface.hpp>
#include <behavior_path_planner/turn_signal_decider.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp
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Expand Up @@ -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 <route_handler/route_handler.hpp>

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6 changes: 3 additions & 3 deletions .../behavior_path_planner/path_utilities.hpp → ...behavior_path_planner/util/path_utils.hpp
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Expand Up @@ -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"

Expand Down Expand Up @@ -94,4 +94,4 @@ std::vector<Pose> interpolatePose(

} // namespace behavior_path_planner::util

#endif // BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTIL__PATH_UTILS_HPP_
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/util.hpp
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Expand Up @@ -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 <lane_departure_checker/lane_departure_checker.hpp>

Expand Down
6 changes: 3 additions & 3 deletions ...clude/behavior_path_planner/utilities.hpp → ...lude/behavior_path_planner/util/utils.hpp
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Expand Up @@ -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"
Expand Down Expand Up @@ -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_
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -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 <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/behavior_tree_manager.cpp
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Expand Up @@ -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 <algorithm>
#include <memory>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp
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Expand Up @@ -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 <tf2/utils.h>

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/marker_util/debug_utilities.cpp
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Expand Up @@ -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 <tier4_autoware_utils/ros/marker_helper.hpp>

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/planner_manager.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>

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6 changes: 3 additions & 3 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -3146,6 +3145,7 @@ BehaviorModuleOutput AvoidanceModule::plan()

output.path = std::make_shared<PathWithLaneId>(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);
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/avoidance_by_lc/module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions ...ehavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>

Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/turn_signal_decider.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/util/avoidance/util.cpp
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Expand Up @@ -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 <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions .../behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
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Expand Up @@ -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 <interpolation/spline_interpolation.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/util/lane_change/util.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp
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Expand Up @@ -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 <interpolation/spline_interpolation.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
Expand Down
4 changes: 2 additions & 2 deletions ...avior_path_planner/src/path_utilities.cpp → ...vior_path_planner/src/util/path_utils.cpp
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Expand Up @@ -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 <interpolation/spline_interpolation.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/util/pull_out/geometric_pull_out.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/util/pull_out/shift_pull_out.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/util/pull_out/util.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp
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Expand Up @@ -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 <memory>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/util/pull_over/geometric_pull_over.cpp
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Expand Up @@ -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 <lanelet2_extension/utility/query.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/util/pull_over/goal_searcher.cpp
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Expand Up @@ -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"

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