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chore: sync tier4/autoware.universe:awf-latest #1695

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Original file line number Diff line number Diff line change
@@ -11,12 +11,12 @@
// 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.
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
#include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
#include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
#include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
@@ -276,20 +276,20 @@ class LaneChangeBase
}
}

LaneChangeStatus status_{};
LaneChangeStatus status_;
PathShifter path_shifter_{};

LaneChangeStates current_lane_change_state_{};

std::shared_ptr<LaneChangeParameters> lane_change_parameters_{};
std::shared_ptr<LaneChangePath> abort_path_{};
std::shared_ptr<const PlannerData> planner_data_{};
lane_change::CommonDataPtr common_data_ptr_{};
std::shared_ptr<LaneChangeParameters> lane_change_parameters_;
std::shared_ptr<LaneChangePath> abort_path_;
std::shared_ptr<const PlannerData> planner_data_;
lane_change::CommonDataPtr common_data_ptr_;
FilteredLanesObjects filtered_objects_{};
BehaviorModuleOutput prev_module_output_{};
std::optional<Pose> lane_change_stop_pose_{std::nullopt};

PathWithLaneId prev_approved_path_{};
PathWithLaneId prev_approved_path_;

int unsafe_hysteresis_count_{0};
bool is_abort_path_approved_{false};
@@ -311,4 +311,4 @@ class LaneChangeBase
friend class ::TestNormalLaneChange;
};
} // namespace autoware::behavior_path_planner
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
Original file line number Diff line number Diff line change
@@ -15,10 +15,10 @@
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_

#include "autoware/behavior_path_lane_change_module/base_class.hpp"
#include "autoware/behavior_path_lane_change_module/scene.hpp"
#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
#include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
#include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
Original file line number Diff line number Diff line change
@@ -15,7 +15,7 @@
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
#include "autoware/route_handler/route_handler.hpp"

Original file line number Diff line number Diff line change
@@ -14,8 +14,8 @@
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_

#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/base_class.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"

#include <memory>
#include <utility>
Original file line number Diff line number Diff line change
@@ -11,10 +11,10 @@
// 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.
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_

#include "autoware/behavior_path_lane_change_module/utils/parameters.hpp"
#include "autoware/behavior_path_lane_change_module/structs/parameters.hpp"
#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"

@@ -72,6 +72,7 @@ struct PhaseMetrics
double actual_lon_accel{0.0};
double lat_accel{0.0};

PhaseMetrics() = default;
PhaseMetrics(
const double _duration, const double _length, const double _velocity,
const double _sampled_lon_accel, const double _actual_lon_accel, const double _lat_accel)
@@ -103,10 +104,10 @@ struct Info
PhaseInfo duration{0.0, 0.0};
PhaseInfo length{0.0, 0.0};

Pose lane_changing_start{};
Pose lane_changing_end{};
Pose lane_changing_start;
Pose lane_changing_end;

ShiftLine shift_line{};
ShiftLine shift_line;

double lateral_acceleration{0.0};
double terminal_lane_changing_velocity{0.0};
@@ -294,4 +295,4 @@ using FilteredLanesObjects = lane_change::FilteredLanesObjects;
using LateralAccelerationMap = lane_change::LateralAccelerationMap;
} // namespace autoware::behavior_path_planner

#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
Original file line number Diff line number Diff line change
@@ -11,11 +11,11 @@
// 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.
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_lane_change_module/structs/path.hpp"

#include <autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp>

@@ -76,4 +76,4 @@ struct Debug
};
} // namespace autoware::behavior_path_planner::lane_change

#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
Original file line number Diff line number Diff line change
@@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_

#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"

@@ -177,4 +177,4 @@ struct Parameters

} // namespace autoware::behavior_path_planner::lane_change

#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
Original file line number Diff line number Diff line change
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"

@@ -29,19 +29,18 @@ using autoware::behavior_path_planner::TurnSignalInfo;
using tier4_planning_msgs::msg::PathWithLaneId;
struct Path
{
PathWithLaneId path{};
ShiftedPath shifted_path{};
Info info{};
PathWithLaneId path;
ShiftedPath shifted_path;
Info info;
};

struct Status
{
Path lane_change_path{};
Path lane_change_path;
bool is_safe{false};
bool is_valid_path{false};
double start_distance{0.0};
};

} // namespace autoware::behavior_path_planner::lane_change

namespace autoware::behavior_path_planner
@@ -50,4 +49,4 @@ using LaneChangePath = lane_change::Path;
using LaneChangePaths = std::vector<lane_change::Path>;
using LaneChangeStatus = lane_change::Status;
} // namespace autoware::behavior_path_planner
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
#endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
Original file line number Diff line number Diff line change
@@ -14,7 +14,7 @@
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"

#include <autoware/route_handler/route_handler.hpp>

Original file line number Diff line number Diff line change
@@ -15,8 +15,8 @@
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_

#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"

#include <geometry_msgs/msg/detail/polygon__struct.hpp>
Original file line number Diff line number Diff line change
@@ -15,8 +15,8 @@
#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
#include "autoware/behavior_path_planner_common/parameters.hpp"
#include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
#include "autoware/behavior_path_planner_common/utils/utils.hpp"
Original file line number Diff line number Diff line change
@@ -681,7 +681,7 @@ void NormalLaneChange::resetParameters()
is_abort_approval_requested_ = false;
current_lane_change_state_ = LaneChangeStates::Normal;
abort_path_ = nullptr;
status_ = {};
status_ = LaneChangeStatus();
unsafe_hysteresis_count_ = 0;
lane_change_debug_.reset();

Original file line number Diff line number Diff line change
@@ -14,7 +14,6 @@

#include "autoware/behavior_path_planner_common/marker_utils/colors.hpp"
#include "autoware/behavior_path_planner_common/marker_utils/utils.hpp"
#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"

#include <autoware/behavior_path_lane_change_module/utils/markers.hpp>
#include <autoware/universe_utils/ros/marker_helper.hpp>
Original file line number Diff line number Diff line change
@@ -14,8 +14,8 @@

#include "autoware/behavior_path_lane_change_module/utils/utils.hpp"

#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
#include "autoware/behavior_path_planner_common/parameters.hpp"
#include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
Original file line number Diff line number Diff line change
@@ -14,7 +14,7 @@

#include "autoware/behavior_path_lane_change_module/manager.hpp"
#include "autoware/behavior_path_lane_change_module/scene.hpp"
#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
#include "autoware/behavior_path_planner_common/data_manager.hpp"
#include "autoware_test_utils/autoware_test_utils.hpp"
#include "autoware_test_utils/mock_data_parser.hpp"
Original file line number Diff line number Diff line change
@@ -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 "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
#include "autoware/behavior_path_lane_change_module/structs/data.hpp"

#include <autoware/universe_utils/geometry/geometry.hpp>
#include <autoware/universe_utils/math/unit_conversion.hpp>