generatePlannedPath->generateOutput and generateExtendedDrivableArea-…

…>extendOutputDrivableArea Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Apr 24, 2023 · 0e0c6bc · 0e0c6bc
1 parent 2432ee3
commit 0e0c6bc
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Showing 7 changed files with 13 additions and 13 deletions.
diff --git a/...havior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp b/...havior_path_planner/include/behavior_path_planner/scene_module/lane_change/base_class.hpp
@@ -66,9 +66,9 @@ class LaneChangeBase
 
   virtual std::pair<bool, bool> getSafePath(LaneChangePath & safe_path) const = 0;
 
-  virtual BehaviorModuleOutput generatePlannedPath() = 0;
+  virtual BehaviorModuleOutput generateOutput() = 0;
 
-  virtual void generateExtendedDrivableArea(BehaviorModuleOutput & output) = 0;
+  virtual void extendOutputDrivableArea(BehaviorModuleOutput & output) = 0;
 
   virtual bool hasFinishedLaneChange() const = 0;
 

diff --git a/...de/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp b/...de/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp
@@ -110,7 +110,7 @@ class ExternalRequestLaneChangeModule : public SceneModuleInterface
     LaneChangePath & safe_path) const;
 
   void updateLaneChangeStatus();
-  void generateExtendedDrivableArea(BehaviorModuleOutput & output);
+  void extendOutputDrivableArea(BehaviorModuleOutput & output);
   void updateOutputTurnSignal(BehaviorModuleOutput & output);
   void updateSteeringFactorPtr(const BehaviorModuleOutput & output);
   void updateSteeringFactorPtr(

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
@@ -43,9 +43,9 @@ class NormalLaneChange : public LaneChangeBase
 
   std::pair<bool, bool> getSafePath(LaneChangePath & safe_path) const override;
 
-  BehaviorModuleOutput generatePlannedPath() override;
+  BehaviorModuleOutput generateOutput() override;
 
-  void generateExtendedDrivableArea(BehaviorModuleOutput & output) override;
+  void extendOutputDrivableArea(BehaviorModuleOutput & output) override;
 
   bool hasFinishedLaneChange() const override;
 

diff --git a/...ehavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp b/...ehavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp
@@ -146,7 +146,7 @@ BehaviorModuleOutput ExternalRequestLaneChangeModule::plan()
   BehaviorModuleOutput output;
   output.path = std::make_shared<PathWithLaneId>(path);
 
-  generateExtendedDrivableArea(output);
+  extendOutputDrivableArea(output);
 
   updateOutputTurnSignal(output);
 
@@ -620,7 +620,7 @@ std_msgs::msg::Header ExternalRequestLaneChangeModule::getRouteHeader() const
 {
   return planner_data_->route_handler->getRouteHeader();
 }
-void ExternalRequestLaneChangeModule::generateExtendedDrivableArea(BehaviorModuleOutput & output)
+void ExternalRequestLaneChangeModule::extendOutputDrivableArea(BehaviorModuleOutput & output)
 {
   const auto & common_parameters = planner_data_->parameters;
   const auto & route_handler = planner_data_->route_handler;
@@ -632,7 +632,7 @@ void ExternalRequestLaneChangeModule::generateExtendedDrivableArea(BehaviorModul
     dp.drivable_area_types_to_skip);
 
   utils::generateDrivableArea(
-    output.path, expanded_lanes, common_parameters.vehicle_length, planner_data_);
+    *output.path, expanded_lanes, common_parameters.vehicle_length, planner_data_);
 }
 
 bool ExternalRequestLaneChangeModule::isApprovedPathSafe(Pose & ego_pose_before_collision) const

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
@@ -117,7 +117,7 @@ BehaviorModuleOutput LaneChangeInterface::plan()
   resetPathReference();
 
   module_type_->setPreviousDrivableLanes(getPreviousModuleOutput().drivable_lanes);
-  auto output = module_type_->generatePlannedPath();
+  auto output = module_type_->generateOutput();
 
   if (!module_type_->isValidPath()) {
     return {};

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
@@ -113,7 +113,7 @@ BehaviorModuleOutput LaneChangeModule::plan()
   resetPathReference();
   is_activated_ = isActivated();
 
-  auto output = module_type_->generatePlannedPath();
+  auto output = module_type_->generateOutput();
 
   if (!module_type_->isValidPath()) {
     return {};

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -85,12 +85,12 @@ std::pair<bool, bool> NormalLaneChange::getSafePath(LaneChangePath & safe_path)
   return {true, found_safe_path};
 }
 
-BehaviorModuleOutput NormalLaneChange::generatePlannedPath()
+BehaviorModuleOutput NormalLaneChange::generateOutput()
 {
   BehaviorModuleOutput output;
   output.path = std::make_shared<PathWithLaneId>(getLaneChangePath().path);
 
-  generateExtendedDrivableArea(output);
+  extendOutputDrivableArea(output);
 
   if (isAbortState()) {
     return output;
@@ -103,7 +103,7 @@ BehaviorModuleOutput NormalLaneChange::generatePlannedPath()
   return output;
 }
 
-void NormalLaneChange::generateExtendedDrivableArea(BehaviorModuleOutput & output)
+void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output)
 {
   const auto & common_parameters = planner_data_->parameters;
   const auto & dp = planner_data_->drivable_area_expansion_parameters;