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refactor(lane_change): change prev info to non pointer #3659

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merged 1 commit into from
May 11, 2023
Merged

refactor(lane_change): change prev info to non pointer #3659

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22 changes: 8 additions & 14 deletions ...havior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,6 @@ class LaneChangeBase
Direction direction)
: lane_change_parameters_{std::move(parameters)}, direction_{direction}, type_{type}
{
prev_module_reference_path_ = std::make_shared<PathWithLaneId>();
prev_module_path_ = std::make_shared<PathWithLaneId>();
prev_drivable_area_info_ = std::make_shared<DrivableAreaInfo>();
prev_turn_signal_info_ = std::make_shared<TurnSignalInfo>();
}

LaneChangeBase(const LaneChangeBase &) = delete;
Expand Down Expand Up @@ -94,23 +90,21 @@ class LaneChangeBase
const std::shared_ptr<PathWithLaneId> & prev_module_path)
{
if (prev_module_reference_path) {
*prev_module_reference_path_ = *prev_module_reference_path;
prev_module_reference_path_ = *prev_module_reference_path;
}
if (prev_module_path) {
*prev_module_path_ = *prev_module_path;
prev_module_path_ = *prev_module_path;
}
};

virtual void setPreviousDrivableAreaInfo(const DrivableAreaInfo & prev_drivable_area_info)
{
if (prev_drivable_area_info_) {
*prev_drivable_area_info_ = prev_drivable_area_info;
}
prev_drivable_area_info_ = prev_drivable_area_info;
}

virtual void setPreviousTurnSignalInfo(const TurnSignalInfo & prev_turn_signal_info)
{
*prev_turn_signal_info_ = prev_turn_signal_info;
prev_turn_signal_info_ = prev_turn_signal_info;
}

virtual void updateSpecialData() {}
Expand Down Expand Up @@ -235,10 +229,10 @@ class LaneChangeBase
std::shared_ptr<LaneChangeParameters> lane_change_parameters_{};
std::shared_ptr<LaneChangePath> abort_path_{};
std::shared_ptr<const PlannerData> planner_data_{};
std::shared_ptr<PathWithLaneId> prev_module_reference_path_{};
std::shared_ptr<PathWithLaneId> prev_module_path_{};
std::shared_ptr<DrivableAreaInfo> prev_drivable_area_info_{};
std::shared_ptr<TurnSignalInfo> prev_turn_signal_info_{};
PathWithLaneId prev_module_reference_path_{};
PathWithLaneId prev_module_path_{};
DrivableAreaInfo prev_drivable_area_info_{};
TurnSignalInfo prev_turn_signal_info_{};

PathWithLaneId prev_approved_path_{};

Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData(
// reference pose
data.reference_pose = getEgoPose();

data.reference_path_rough = *prev_module_path_;
data.reference_path_rough = prev_module_path_;

const auto resample_interval =
avoidance_by_lane_change_parameters_->avoidance->resample_interval_for_planning;
Expand Down
20 changes: 6 additions & 14 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,13 +105,9 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
output.reference_path = std::make_shared<PathWithLaneId>(getReferencePath());
output.turn_signal_info = updateOutputTurnSignal();

if (!prev_turn_signal_info_) {
return output;
}

const auto current_seg_idx = planner_data_->findEgoSegmentIndex(output.path->points);
output.turn_signal_info = planner_data_->turn_signal_decider.use_prior_turn_signal(
*output.path, getEgoPose(), current_seg_idx, *prev_turn_signal_info_, output.turn_signal_info,
*output.path, getEgoPose(), current_seg_idx, prev_turn_signal_info_, output.turn_signal_info,
planner_data_->parameters.ego_nearest_dist_threshold,
planner_data_->parameters.ego_nearest_yaw_threshold);

Expand All @@ -132,12 +128,8 @@ void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output)
// for new architecture
DrivableAreaInfo current_drivable_area_info;
current_drivable_area_info.drivable_lanes = expanded_lanes;
if (prev_drivable_area_info_) {
output.drivable_area_info =
utils::combineDrivableAreaInfo(current_drivable_area_info, *prev_drivable_area_info_);
} else {
output.drivable_area_info = current_drivable_area_info;
}
output.drivable_area_info =
utils::combineDrivableAreaInfo(current_drivable_area_info, prev_drivable_area_info_);

// for old architecture
utils::generateDrivableArea(
Expand Down Expand Up @@ -249,7 +241,7 @@ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal()

lanelet::ConstLanelets NormalLaneChange::getCurrentLanes() const
{
return utils::getCurrentLanesFromPath(*prev_module_reference_path_, planner_data_);
return utils::getCurrentLanesFromPath(prev_module_reference_path_, planner_data_);
}

lanelet::ConstLanelets NormalLaneChange::getLaneChangeLanes(
Expand Down Expand Up @@ -301,7 +293,7 @@ PathWithLaneId NormalLaneChange::getPrepareSegment(
return PathWithLaneId();
}

auto prepare_segment = *prev_module_path_;
auto prepare_segment = prev_module_path_;
const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
prepare_segment.points, getEgoPose(), 3.0, 1.0);
utils::clipPathLength(prepare_segment, current_seg_idx, prepare_length, backward_path_length);
Expand Down Expand Up @@ -538,7 +530,7 @@ std::vector<DrivableLanes> NormalLaneChange::getDrivableLanes() const
{
const auto drivable_lanes = utils::lane_change::generateDrivableLanes(
*getRouteHandler(), status_.current_lanes, status_.lane_change_lanes);
return utils::combineDrivableLanes(prev_drivable_area_info_->drivable_lanes, drivable_lanes);
return utils::combineDrivableLanes(prev_drivable_area_info_.drivable_lanes, drivable_lanes);
}

bool NormalLaneChange::isApprovedPathSafe(Pose & ego_pose_before_collision) const
Expand Down