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feat(dynamic_obstacle_avoidace, side_shift, sampling_planner): use planning factor #1729

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Dec 23, 2024
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feat(dynamic_obstacle_avoidace, side_shift, sampling_planner): use planning factor #1729

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fd343f0
feat(dynamic_obstacle_avoidance): use planning factor
satoshi-ota Dec 17, 2024
a6c7eb3
feat(sampling_planner): use planning factor
satoshi-ota Dec 17, 2024
886fa31
feat(side_shift): use planning factor
satoshi-ota Dec 17, 2024
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2 changes: 1 addition & 1 deletion ...dance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp
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Expand Up @@ -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;
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3 changes: 2 additions & 1 deletion ...oidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
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Expand Up @@ -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
{
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5 changes: 3 additions & 2 deletions ...avior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
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Expand Up @@ -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,
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2 changes: 1 addition & 1 deletion ...ampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp
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Expand Up @@ -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(
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3 changes: 2 additions & 1 deletion ...module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
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Expand Up @@ -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;
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5 changes: 3 additions & 2 deletions ...th_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
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Expand Up @@ -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>();
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2 changes: 1 addition & 1 deletion ...avior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp
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Expand Up @@ -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;
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3 changes: 2 additions & 1 deletion ...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp
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Expand Up @@ -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;
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5 changes: 3 additions & 2 deletions planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
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Expand Up @@ -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}
{
}
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