refactor(safety_checker): remove lane change dependency (autowarefoun…

…dation#4387) * refactor(safety_checker): remove lane change dependency Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(safety_checker): init primitive member variables Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Aug 7, 2023 · 3b92efe · 3b92efe
1 parent 278cb58
commit 3b92efe
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Showing 5 changed files with 62 additions and 52 deletions.
diff --git a/...g/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/...g/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp
@@ -26,6 +26,10 @@
 namespace behavior_path_planner
 {
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using behavior_path_planner::utils::safety_check::ExtendedPredictedObject;
+using behavior_path_planner::utils::safety_check::PoseWithVelocityAndPolygonStamped;
+using behavior_path_planner::utils::safety_check::PoseWithVelocityStamped;
+using behavior_path_planner::utils::safety_check::PredictedPathWithPolygon;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;

diff --git a/..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
@@ -15,6 +15,7 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_
 
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
+#include "behavior_path_planner/utils/safety_check.hpp"
 #include "lanelet2_core/geometry/Lanelet.h"
 
 #include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
@@ -28,51 +29,6 @@
 namespace behavior_path_planner
 {
 
-struct PoseWithVelocity
-{
-  Pose pose;
-  double velocity;
-
-  PoseWithVelocity(const Pose & pose, const double velocity) : pose(pose), velocity(velocity) {}
-};
-
-struct PoseWithVelocityStamped : public PoseWithVelocity
-{
-  double time;
-
-  PoseWithVelocityStamped(const double time, const Pose & pose, const double velocity)
-  : PoseWithVelocity(pose, velocity), time(time)
-  {
-  }
-};
-
-struct PoseWithVelocityAndPolygonStamped : public PoseWithVelocityStamped
-{
-  Polygon2d poly;
-
-  PoseWithVelocityAndPolygonStamped(
-    const double time, const Pose & pose, const double velocity, const Polygon2d & poly)
-  : PoseWithVelocityStamped(time, pose, velocity), poly(poly)
-  {
-  }
-};
-
-struct PredictedPathWithPolygon
-{
-  float confidence;
-  std::vector<PoseWithVelocityAndPolygonStamped> path;
-};
-
-struct ExtendedPredictedObject
-{
-  unique_identifier_msgs::msg::UUID uuid;
-  geometry_msgs::msg::PoseWithCovariance initial_pose;
-  geometry_msgs::msg::TwistWithCovariance initial_twist;
-  geometry_msgs::msg::AccelWithCovariance initial_acceleration;
-  autoware_auto_perception_msgs::msg::Shape shape;
-  std::vector<PredictedPathWithPolygon> predicted_paths;
-};
-
 struct LaneChangeCancelParameters
 {
   bool enable_on_prepare_phase{true};
@@ -176,9 +132,9 @@ struct LaneChangeTargetObjectIndices
 
 struct LaneChangeTargetObjects
 {
-  std::vector<ExtendedPredictedObject> current_lane{};
-  std::vector<ExtendedPredictedObject> target_lane{};
-  std::vector<ExtendedPredictedObject> other_lane{};
+  std::vector<utils::safety_check::ExtendedPredictedObject> current_lane{};
+  std::vector<utils::safety_check::ExtendedPredictedObject> target_lane{};
+  std::vector<utils::safety_check::ExtendedPredictedObject> other_lane{};
 };
 
 enum class LaneChangeModuleType {

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
@@ -43,9 +43,10 @@ using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::PredictedPath;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
-using behavior_path_planner::ExtendedPredictedObject;
-using behavior_path_planner::PoseWithVelocityAndPolygonStamped;
-using behavior_path_planner::PredictedPathWithPolygon;
+using behavior_path_planner::utils::safety_check::ExtendedPredictedObject;
+using behavior_path_planner::utils::safety_check::PoseWithVelocityAndPolygonStamped;
+using behavior_path_planner::utils::safety_check::PoseWithVelocityStamped;
+using behavior_path_planner::utils::safety_check::PredictedPathWithPolygon;
 using data::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/safety_check.hpp
@@ -17,7 +17,6 @@
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/marker_utils/utils.hpp"
-#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
@@ -50,6 +49,51 @@ using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 using vehicle_info_util::VehicleInfo;
 
+struct PoseWithVelocity
+{
+  Pose pose;
+  double velocity{0.0};
+
+  PoseWithVelocity(const Pose & pose, const double velocity) : pose(pose), velocity(velocity) {}
+};
+
+struct PoseWithVelocityStamped : public PoseWithVelocity
+{
+  double time{0.0};
+
+  PoseWithVelocityStamped(const double time, const Pose & pose, const double velocity)
+  : PoseWithVelocity(pose, velocity), time(time)
+  {
+  }
+};
+
+struct PoseWithVelocityAndPolygonStamped : public PoseWithVelocityStamped
+{
+  Polygon2d poly;
+
+  PoseWithVelocityAndPolygonStamped(
+    const double time, const Pose & pose, const double velocity, const Polygon2d & poly)
+  : PoseWithVelocityStamped(time, pose, velocity), poly(poly)
+  {
+  }
+};
+
+struct PredictedPathWithPolygon
+{
+  float confidence{0.0};
+  std::vector<PoseWithVelocityAndPolygonStamped> path;
+};
+
+struct ExtendedPredictedObject
+{
+  unique_identifier_msgs::msg::UUID uuid;
+  geometry_msgs::msg::PoseWithCovariance initial_pose;
+  geometry_msgs::msg::TwistWithCovariance initial_twist;
+  geometry_msgs::msg::AccelWithCovariance initial_acceleration;
+  autoware_auto_perception_msgs::msg::Shape shape;
+  std::vector<PredictedPathWithPolygon> predicted_paths;
+};
+
 namespace bg = boost::geometry;
 
 bool isTargetObjectFront(

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -19,6 +19,7 @@
 #include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_following/module_data.hpp"
+#include "behavior_path_planner/utils/safety_check.hpp"
 #include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
 #include "motion_utils/motion_utils.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
@@ -65,6 +66,10 @@ using autoware_auto_perception_msgs::msg::Shape;
 using autoware_auto_planning_msgs::msg::Path;
 using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using behavior_path_planner::utils::safety_check::ExtendedPredictedObject;
+using behavior_path_planner::utils::safety_check::PoseWithVelocityAndPolygonStamped;
+using behavior_path_planner::utils::safety_check::PoseWithVelocityStamped;
+using behavior_path_planner::utils::safety_check::PredictedPathWithPolygon;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseArray;