refactor(behavior_path_planner): add vehicle_info_ as member variable…

… in goal_planner (autowarefoundation#4859) add vehicle_info_ Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
tier4 · Sep 12, 2023 · a86abaa · a86abaa
1 parent ca0eeee
commit a86abaa
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -139,6 +139,8 @@ class GoalPlannerModule : public SceneModuleInterface
 
   std::shared_ptr<GoalPlannerParameters> parameters_;
 
+  vehicle_info_util::VehicleInfo vehicle_info_;
+
   // planner
   std::vector<std::shared_ptr<PullOverPlannerBase>> pull_over_planners_;
   std::unique_ptr<PullOverPlannerBase> freespace_planner_;

diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -63,11 +63,13 @@ GoalPlannerModule::GoalPlannerModule(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<GoalPlannerParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface> > & rtc_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}
+: SceneModuleInterface{name, node, rtc_interface_ptr_map},
+  parameters_{parameters},
+  vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()}
 {
 #endif
   LaneDepartureChecker lane_departure_checker{};
-  lane_departure_checker.setVehicleInfo(vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo());
+  lane_departure_checker.setVehicleInfo(vehicle_info_);
 
   occupancy_grid_map_ = std::make_shared<OccupancyGridBasedCollisionDetector>();