refactor(lane_change): reducing clang-tidy warnings (autowarefoundati…

…on#9085) * refactor(lane_change): reducing clang-tidy warnings Signed-off-by: Zulfaqar Azmi <[email protected]> * change function name to snake case Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
tier4 · Dec 20, 2024 · 9ae140f · 9ae140f
1 parent f459a08
commit 9ae140f
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Showing 5 changed files with 21 additions and 64 deletions.
diff --git a/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
@@ -126,8 +126,8 @@ class NormalLaneChange : public LaneChangeBase
 
   std::vector<double> calc_prepare_durations() const;
 
-  lane_change::TargetObjects getTargetObjects(
-    const FilteredByLanesExtendedObjects & predicted_objects,
+  lane_change::TargetObjects get_target_objects(
+    const FilteredByLanesExtendedObjects & filtered_objects,
     const lanelet::ConstLanelets & current_lanes) const;
 
   FilteredByLanesExtendedObjects filterObjects() const;

diff --git a/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
@@ -140,7 +140,7 @@ std::vector<PhaseMetrics> calc_prepare_phase_metrics(
 
 std::vector<PhaseMetrics> calc_shift_phase_metrics(
   const CommonDataPtr & common_data_ptr, const double shift_length, const double initial_velocity,
-  const double max_velocity, const double lon_accel,
+  const double max_path_velocity, const double lon_accel,
   const double max_length_threshold = std::numeric_limits<double>::max());
 
 /**

diff --git a/...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -84,13 +84,8 @@ std::vector<int64_t> replaceWithSortedIds(
 
 std::vector<std::vector<int64_t>> get_sorted_lane_ids(const CommonDataPtr & common_data_ptr);
 
-lanelet::ConstLanelets getTargetPreferredLanes(
+lanelet::ConstLanelets get_target_neighbor_lanes(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes,
-  const lanelet::ConstLanelets & target_lanes, const Direction & direction,
-  const LaneChangeModuleType & type);
-
-lanelet::ConstLanelets getTargetNeighborLanes(
-  const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
   const LaneChangeModuleType & type);
 
 bool isPathInLanelets(

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -44,7 +44,6 @@ namespace autoware::behavior_path_planner
 using autoware::motion_utils::calcSignedArcLength;
 using utils::lane_change::create_lanes_polygon;
 using utils::path_safety_checker::isPolygonOverlapLanelet;
-using utils::traffic_light::getDistanceToNextTrafficLight;
 namespace calculation = utils::lane_change::calculation;
 
 NormalLaneChange::NormalLaneChange(
@@ -89,7 +88,7 @@ void NormalLaneChange::update_lanes(const bool is_approved)
   common_data_ptr_->current_lanes_path =
     route_handler_ptr->getCenterLinePath(current_lanes, 0.0, std::numeric_limits<double>::max());
 
-  common_data_ptr_->lanes_ptr->target_neighbor = utils::lane_change::getTargetNeighborLanes(
+  common_data_ptr_->lanes_ptr->target_neighbor = utils::lane_change::get_target_neighbor_lanes(
     *route_handler_ptr, current_lanes, common_data_ptr_->lc_type);
 
   common_data_ptr_->lanes_ptr->current_lane_in_goal_section =
@@ -558,7 +557,7 @@ PathWithLaneId NormalLaneChange::getReferencePath() const
         get_target_lanes(), getEgoPose(), &closest_lanelet)) {
     return prev_module_output_.reference_path;
   }
-  const auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_);
+  auto reference_path = utils::getCenterLinePathFromLanelet(closest_lanelet, planner_data_);
   if (reference_path.points.empty()) {
     return prev_module_output_.reference_path;
   }
@@ -1012,7 +1011,7 @@ bool NormalLaneChange::get_prepare_segment(
   return true;
 }
 
-lane_change::TargetObjects NormalLaneChange::getTargetObjects(
+lane_change::TargetObjects NormalLaneChange::get_target_objects(
   const FilteredByLanesExtendedObjects & filtered_objects,
   [[maybe_unused]] const lanelet::ConstLanelets & current_lanes) const
 {
@@ -1362,7 +1361,7 @@ bool NormalLaneChange::get_lane_change_paths(LaneChangePaths & candidate_paths)
 
   const auto current_velocity = getEgoVelocity();
   const auto sorted_lane_ids = utils::lane_change::get_sorted_lane_ids(common_data_ptr_);
-  const auto target_objects = getTargetObjects(filtered_objects_, current_lanes);
+  const auto target_objects = get_target_objects(filtered_objects_, current_lanes);
 
   const auto prepare_phase_metrics = get_prepare_metrics();
 
@@ -1652,7 +1651,8 @@ std::optional<LaneChangePath> NormalLaneChange::calcTerminalLaneChangePath(
   utils::clipPathLength(reference_segment, 0, length_to_lane_changing_start, 0.0);
   // remove terminal points because utils::clipPathLength() calculates extra long path
   reference_segment.points.pop_back();
-  reference_segment.points.back().point.longitudinal_velocity_mps = minimum_lane_changing_velocity;
+  reference_segment.points.back().point.longitudinal_velocity_mps =
+    static_cast<float>(minimum_lane_changing_velocity);
 
   const auto terminal_lane_change_path = utils::lane_change::construct_candidate_path(
     common_data_ptr_, lane_change_info, reference_segment, target_lane_reference_path,
@@ -1671,7 +1671,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const
     return {true, true};
   }
 
-  const auto target_objects = getTargetObjects(filtered_objects_, current_lanes);
+  const auto target_objects = get_target_objects(filtered_objects_, current_lanes);
 
   CollisionCheckDebugMap debug_data;
 
@@ -1758,11 +1758,7 @@ bool NormalLaneChange::isValidPath(const PathWithLaneId & path) const
   }
 
   // check relative angle
-  if (!utils::checkPathRelativeAngle(path, M_PI)) {
-    return false;
-  }
-
-  return true;
+  return utils::checkPathRelativeAngle(path, M_PI);
 }
 
 bool NormalLaneChange::isRequiredStop(const bool is_trailing_object)
@@ -1907,7 +1903,7 @@ bool NormalLaneChange::calcAbortPath()
     PathWithLaneId aborting_path;
     aborting_path.points.insert(
       aborting_path.points.begin(), shifted_path.path.points.begin(),
-      shifted_path.path.points.begin() + abort_return_idx);
+      shifted_path.path.points.begin() + static_cast<int>(abort_return_idx));
 
     if (!reference_lane_segment.points.empty()) {
       abort_path.path = utils::combinePath(aborting_path, reference_lane_segment);

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -14,10 +14,8 @@
 
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 
-#include "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/utils/path.hpp"
-#include "autoware/behavior_path_planner_common/marker_utils/utils.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"
@@ -52,7 +50,6 @@
 #include <iterator>
 #include <limits>
 #include <memory>
-#include <numeric>
 #include <optional>
 #include <string>
 #include <vector>
@@ -61,7 +58,6 @@ namespace autoware::behavior_path_planner::utils::lane_change
 {
 using autoware::route_handler::RouteHandler;
 using autoware::universe_utils::LineString2d;
-using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -117,10 +113,9 @@ void setPrepareVelocity(
 {
   if (current_velocity < prepare_velocity) {
     // acceleration
-    for (size_t i = 0; i < prepare_segment.points.size(); ++i) {
-      prepare_segment.points.at(i).point.longitudinal_velocity_mps = std::min(
-        prepare_segment.points.at(i).point.longitudinal_velocity_mps,
-        static_cast<float>(prepare_velocity));
+    for (auto & point : prepare_segment.points) {
+      point.point.longitudinal_velocity_mps =
+        std::min(point.point.longitudinal_velocity_mps, static_cast<float>(prepare_velocity));
     }
   } else {
     // deceleration
@@ -142,7 +137,7 @@ std::vector<double> getAccelerationValues(
   }
 
   constexpr double epsilon = 0.001;
-  const auto resolution = std::abs(max_acc - min_acc) / sampling_num;
+  const auto resolution = std::abs(max_acc - min_acc) / static_cast<double>(sampling_num);
 
   std::vector<double> sampled_values{min_acc};
   for (double sampled_acc = min_acc + resolution;
@@ -159,36 +154,7 @@ std::vector<double> getAccelerationValues(
   return sampled_values;
 }
 
-lanelet::ConstLanelets getTargetPreferredLanes(
-  const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes,
-  const lanelet::ConstLanelets & target_lanes, const Direction & direction,
-  const LaneChangeModuleType & type)
-{
-  if (type != LaneChangeModuleType::NORMAL) {
-    return target_lanes;
-  }
-
-  const auto target_lane =
-    utils::lane_change::getLaneChangeTargetLane(route_handler, current_lanes, type, direction);
-  if (!target_lane) {
-    return target_lanes;
-  }
-
-  const auto itr = std::find_if(
-    target_lanes.begin(), target_lanes.end(),
-    [&](const lanelet::ConstLanelet & lane) { return lane.id() == target_lane->id(); });
-
-  if (itr == target_lanes.end()) {
-    return target_lanes;
-  }
-
-  const int target_id = std::distance(target_lanes.begin(), itr);
-  const lanelet::ConstLanelets target_preferred_lanes(
-    target_lanes.begin() + target_id, target_lanes.end());
-  return target_preferred_lanes;
-}
-
-lanelet::ConstLanelets getTargetNeighborLanes(
+lanelet::ConstLanelets get_target_neighbor_lanes(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & current_lanes,
   const LaneChangeModuleType & type)
 {
@@ -459,7 +425,7 @@ std::vector<DrivableLanes> generateDrivableLanes(
   const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & lane_change_lanes)
 {
   const auto has_same_lane =
-    [](const lanelet::ConstLanelets lanes, const lanelet::ConstLanelet & lane) {
+    [](const lanelet::ConstLanelets & lanes, const lanelet::ConstLanelet & lane) {
       if (lanes.empty()) return false;
       const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); };
       return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end();
@@ -784,7 +750,7 @@ bool isParkedObject(
       most_left_lanelet.attribute(lanelet::AttributeName::Subtype);
 
     for (const auto & ll : most_left_lanelet_candidates) {
-      const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype);
+      const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype);
       if (sub_type.value() == "road_shoulder") {
         most_left_lanelet = ll;
       }
@@ -805,7 +771,7 @@ bool isParkedObject(
       most_right_lanelet.attribute(lanelet::AttributeName::Subtype);
 
     for (const auto & ll : most_right_lanelet_candidates) {
-      const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype);
+      const auto & sub_type = ll.attribute(lanelet::AttributeName::Subtype);
       if (sub_type.value() == "road_shoulder") {
         most_right_lanelet = ll;
       }