From fd343f058fc5f0ec8e134d84c1c89dbca0325f20 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 17 Dec 2024 12:49:25 +0900 Subject: [PATCH 1/3] feat(dynamic_obstacle_avoidance): use planning factor Signed-off-by: satoshi-ota --- .../manager.hpp | 2 +- .../scene.hpp | 3 ++- .../src/scene.cpp | 5 +++-- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp index f09196b2cc8e1..ea8f09c4f9336 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp @@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( 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 & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index 44b56f4ea0990..8987e7c0446ee 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -351,7 +351,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + const std::shared_ptr planning_factor_interface); void updateModuleParams(const std::any & parameters) override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index dc7efebe88fba..145e0df2675b4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -331,8 +331,9 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule( std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - 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 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, From a6c7eb32bec44e9d0d330840503b43db5e56e0a2 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 17 Dec 2024 12:49:50 +0900 Subject: [PATCH 2/3] feat(sampling_planner): use planning factor Signed-off-by: satoshi-ota --- .../behavior_path_sampling_planner_module/manager.hpp | 2 +- .../sampling_planner_module.hpp | 3 ++- .../src/sampling_planner_module.cpp | 5 +++-- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp index 28c310ae20ec2..f25c073e879da 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp @@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( 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/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp index c9b75f7fa96de..f84fe45d08ca4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp @@ -86,7 +86,8 @@ class SamplingPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + const std::shared_ptr planning_factor_interface); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index fac3cc92de1d6..5bb57f17ce813 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -42,8 +42,9 @@ SamplingPlannerModule::SamplingPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - 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 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(); From 886fa31731a184ec3680f7f591035a9165a65263 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 17 Dec 2024 12:50:06 +0900 Subject: [PATCH 3/3] feat(side_shift): use planning factor Signed-off-by: satoshi-ota --- .../autoware/behavior_path_side_shift_module/manager.hpp | 2 +- .../autoware/behavior_path_side_shift_module/scene.hpp | 3 ++- .../autoware_behavior_path_side_shift_module/src/scene.cpp | 5 +++-- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp index b495e6619a1c7..2b4a20ddc8cca 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_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( 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 & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp index 15d81ff45abcf..c8a5e47287477 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_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 & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + const std::shared_ptr 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 index 22ee7ab77e077..9536c1ba17336 100644 --- 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 & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - 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 planning_factor_interface) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface}, // NOLINT parameters_{parameters} { }