fix

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case1.cpp

@@ -102,7 +102,7 @@ void plot_footprint(
   axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linestyle"_a = "dotted"));
 }
 
-void plot_lanelet_polyogn(matplotlibcpp17::axes::Axes & axes, const lanelet::BasicPolygon2d polygon)
+void plot_lanelet_polygon(matplotlibcpp17::axes::Axes & axes, const lanelet::BasicPolygon2d polygon)
 {
   std::vector<double> xs, ys;
   for (const auto & p : polygon) {
@@ -353,7 +353,7 @@ std::vector<PullOverPath> selectPullOverPaths(
   std::map<size_t, double> path_id_to_rough_margin_map;
   const auto & target_objects = autoware_perception_msgs::msg::PredictedObjects{};
   for (const size_t i : sorted_path_indices) {
-    const auto & path = pull_over_path_candidates[i];
+    const auto & path = pull_over_path_candidates[i];  // cppcheck-suppress containerOutOfBounds
     const double distance =
       autoware::behavior_path_planner::utils::path_safety_checker::calculateRoughDistanceToObjects(
         path.parking_path(), target_objects, planner_data->parameters, false, "max");
@@ -663,7 +663,7 @@ int main(int argc, char ** argv)
     const auto bus_stop_area_polygons =
       getBusStopAreaPolygons(planner_data, goal_planner_parameter);
     for (const auto & bus_stop_area_polygon : bus_stop_area_polygons) {
-      plot_lanelet_polyogn(ax1, bus_stop_area_polygon);
+      plot_lanelet_polygon(ax1, bus_stop_area_polygon);
     }
   }
 

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/examples/plot_map_case2.cpp

@@ -45,10 +45,17 @@
 #include <pybind11/pytypes.h>
 #include <yaml-cpp/yaml.h>
 
+#include <algorithm>
 #include <chrono>
 #include <cmath>
+#include <functional>
 #include <iostream>
-
+#include <map>
+#include <memory>
+#include <string>
+#include <tuple>
+#include <unordered_map>
+#include <vector>
 using namespace std::chrono_literals;  // NOLINT
 
 using autoware::behavior_path_planner::BehaviorModuleOutput;
@@ -94,7 +101,7 @@ void plot_footprint(
   axes.plot(Args(xs, ys), Kwargs("color"_a = color, "linestyle"_a = "dotted"));
 }
 
-void plot_lanelet_polyogn(matplotlibcpp17::axes::Axes & axes, const lanelet::BasicPolygon2d polygon)
+void plot_lanelet_polygon(matplotlibcpp17::axes::Axes & axes, const lanelet::BasicPolygon2d polygon)
 {
   std::vector<double> xs, ys;
   for (const auto & p : polygon) {
@@ -353,7 +360,7 @@ std::vector<PullOverPath> selectPullOverPaths(
   std::map<size_t, double> path_id_to_rough_margin_map;
   const auto & target_objects = autoware_perception_msgs::msg::PredictedObjects{};
   for (const size_t i : sorted_path_indices) {
-    const auto & path = pull_over_path_candidates[i];
+    const auto & path = pull_over_path_candidates[i];  // cppcheck-suppress containerOutOfBounds
     const double distance =
       autoware::behavior_path_planner::utils::path_safety_checker::calculateRoughDistanceToObjects(
         path.parking_path(), target_objects, planner_data->parameters, false, "max");
@@ -657,7 +664,7 @@ int main(int argc, char ** argv)
     const auto bus_stop_area_polygons =
       getBusStopAreaPolygons(planner_data, goal_planner_parameter);
     for (const auto & bus_stop_area_polygon : bus_stop_area_polygons) {
-      plot_lanelet_polyogn(ax1, bus_stop_area_polygon);
+      plot_lanelet_polygon(ax1, bus_stop_area_polygon);
     }
   }
 

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml

@@ -20,9 +20,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
-  <depend>auotware_bezier_sampler</depend>
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_bezier_sampler</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_test_utils</depend>

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp

@@ -23,8 +23,12 @@
 #include <autoware_bezier_sampler/bezier_sampling.hpp>
 #include <autoware_lanelet2_extension/utility/query.hpp>
 
+#include <algorithm>
 #include <iterator>
-
+#include <limits>
+#include <memory>
+#include <utility>
+#include <vector>
 namespace autoware::behavior_path_planner
 {
 BezierPullOver::BezierPullOver(
@@ -223,7 +227,7 @@ std::vector<PullOverPath> BezierPullOver::generateBezierPath(
       tf2::getYaw(from_pose.orientation)};
     const autoware::sampler_common::State final{
       {to_pose.position.x, to_pose.position.y}, {0.0, 0.0}, 0.0, tf2::getYaw(to_pose.orientation)};
-    // setting the initial velocity to higher gives straight forwared path (the steering does not
+    // setting the initial velocity to higher gives straight forward path (the steering does not
     // change)
     const auto bezier_path =
       bezier_sampler::sample(initial, final, v_init_coeff, v_final_coeff, acc_coeff);

planning/sampling_based_planner/autoware_bezier_sampler/src/bezier_sampling.cpp

@@ -62,7 +62,7 @@ Bezier sample(
   const autoware::sampler_common::State & initial, const autoware::sampler_common::State & final,
   const double initial_velocity, const double final_velocity, const double acceleration)
 {
-  double distance_initial_to_final = std::sqrt(
+  const double distance_initial_to_final = std::sqrt(
     (initial.pose.x() - final.pose.x()) * (initial.pose.x() - final.pose.x()) +
     (initial.pose.y() - final.pose.y()) * (initial.pose.y() - final.pose.y()));
   // Tangent vectors
@@ -71,13 +71,13 @@ Bezier sample(
   // Unit vectors
   const Eigen::Vector2d initial_normal_unit = initial_tangent_unit.unitOrthogonal();
   const Eigen::Vector2d final_normal_unit = final_tangent_unit.unitOrthogonal();
-  double initial_tangent_length = initial_velocity * distance_initial_to_final;
-  double final_tangent_length = final_velocity * distance_initial_to_final;
-  double acceleration_length = acceleration * distance_initial_to_final;
-  Eigen::Vector2d initial_acceleration =
+  const double initial_tangent_length = initial_velocity * distance_initial_to_final;
+  const double final_tangent_length = final_velocity * distance_initial_to_final;
+  const double acceleration_length = acceleration * distance_initial_to_final;
+  const Eigen::Vector2d initial_acceleration =
     acceleration_length * initial_tangent_unit +
     initial.curvature * initial_tangent_length * initial_tangent_length * initial_normal_unit;
-  Eigen::Vector2d final_acceleration =
+  const Eigen::Vector2d final_acceleration =
     acceleration_length * final_tangent_unit +
     final.curvature * final_tangent_length * final_tangent_length * final_normal_unit;
   return generate(