feat(dynamic_obstacle_avoidace, side_shift, sampling_planner): use pl…

…anning factor (#1729) * feat(dynamic_obstacle_avoidance): use planning factor Signed-off-by: satoshi-ota <[email protected]> * feat(sampling_planner): use planning factor Signed-off-by: satoshi-ota <[email protected]> * feat(side_shift): use planning factor Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
tier4 · Dec 23, 2024 · 2094911 · 2094911
1 parent 844f888
commit 2094911
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Showing 9 changed files with 18 additions and 12 deletions.
diff --git a/...dance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/...dance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp
@@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<DynamicObstacleAvoidanceModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

diff --git a/...oidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/...oidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
@@ -351,7 +351,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
     std::shared_ptr<DynamicAvoidanceParameters> parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);
 
   void updateModuleParams(const std::any & parameters) override
   {

diff --git a/...avior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/...avior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
@@ -331,8 +331,9 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule(
   std::shared_ptr<DynamicAvoidanceParameters> parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface},  // NOLINT
   parameters_{std::move(parameters)},
   target_objects_manager_{TargetObjectsManager(
     parameters_->successive_num_to_entry_dynamic_avoidance_condition,

diff --git a/...ampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/...ampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp
@@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<SamplingPlannerModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);
   }
 
   void updateModuleParams(

diff --git a/...module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/...module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
@@ -86,7 +86,8 @@ class SamplingPlannerModule : public SceneModuleInterface
     const std::shared_ptr<SamplingPlannerParameters> & parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;

diff --git a/...th_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/...th_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
@@ -42,8 +42,9 @@ SamplingPlannerModule::SamplingPlannerModule(
   const std::shared_ptr<SamplingPlannerParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface},  // NOLINT
   vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}
 {
   internal_params_ = std::make_shared<SamplingPlannerInternalParameters>();

diff --git a/...avior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/...avior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp
@@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<SideShiftModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

diff --git a/...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp
@@ -45,7 +45,8 @@ class SideShiftModule : public SceneModuleInterface
     const std::shared_ptr<SideShiftParameters> & parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;

diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
@@ -42,8 +42,9 @@ SideShiftModule::SideShiftModule(
   const std::shared_ptr<SideShiftParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface},  // NOLINT
   parameters_{parameters}
 {
 }