refactor(behavior_path_planner_common): remove unused headers (autowa…

…refoundation#5924) Signed-off-by: Zulfaqar Azmi <[email protected]>
Interplai · Jun 3, 2024 · 9855c95 · 9855c95
1 parent d9d7f8d
commit 9855c95
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Showing 36 changed files with 84 additions and 170 deletions.
diff --git a/...ning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp b/...ning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
@@ -16,11 +16,10 @@
 #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
 
 #include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
-#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
-#include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
+#include "visualization_msgs/msg/detail/marker_array__struct.hpp"
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
@@ -33,9 +32,7 @@
 #include <string>
 #include <vector>
 
-namespace behavior_path_planner
-{
-namespace goal_planner_utils
+namespace behavior_path_planner::goal_planner_utils
 {
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::PredictedPath;
@@ -68,7 +65,6 @@ MarkerArray createGoalCandidatesMarkerArray(
 MarkerArray createNumObjectsToAvoidTextsMarkerArray(
   const GoalCandidates & goal_candidates, std::string && ns,
   const std_msgs::msg::ColorRGBA & color);
-}  // namespace goal_planner_utils
-}  // namespace behavior_path_planner
+}  // namespace behavior_path_planner::goal_planner_utils
 
 #endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
diff --git a/planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp
@@ -15,8 +15,10 @@
 #include "behavior_path_goal_planner_module/freespace_pull_over.hpp"
 
 #include "behavior_path_goal_planner_module/util.hpp"
+#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
+#include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <memory>
 #include <vector>

diff --git a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp
@@ -15,6 +15,7 @@
 #include "behavior_path_goal_planner_module/geometric_pull_over.hpp"
 
 #include "behavior_path_goal_planner_module/util.hpp"
+#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>

diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -16,6 +16,7 @@
 
 #include "behavior_path_goal_planner_module/util.hpp"
 #include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
+#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"

diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
@@ -17,6 +17,7 @@
 #include "behavior_path_goal_planner_module/util.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
+#include "behavior_path_planner_common/utils/utils.hpp"
 #include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
 #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"

diff --git a/planning/behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_goal_planner_module/src/util.cpp
@@ -14,9 +14,12 @@
 
 #include "behavior_path_goal_planner_module/util.hpp"
 
+#include "behavior_path_planner_common/utils/utils.hpp"
+
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <boost/geometry/algorithms/dispatch/distance.hpp>
 
@@ -30,17 +33,14 @@
 #include <string>
 #include <vector>
 
+namespace behavior_path_planner::goal_planner_utils
+{
+
 using tier4_autoware_utils::calcOffsetPose;
 using tier4_autoware_utils::createDefaultMarker;
 using tier4_autoware_utils::createMarkerColor;
 using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::createPoint;
-
-namespace behavior_path_planner
-{
-namespace goal_planner_utils
-{
-
 lanelet::ConstLanelets getPullOverLanes(
   const RouteHandler & route_handler, const bool left_side, const double backward_distance,
   const double forward_distance)
@@ -214,5 +214,4 @@ bool checkOriginalGoalIsInShoulder(const std::shared_ptr<RouteHandler> & route_h
   return false;
 }
 
-}  // namespace goal_planner_utils
-}  // namespace behavior_path_planner
+}  // namespace behavior_path_planner::goal_planner_utils
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
@@ -56,7 +56,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>route_handler</depend>
   <depend>sensor_msgs</depend>
   <depend>signal_processing</depend>
   <depend>tf2</depend>

diff --git a/planning/behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner_common/CMakeLists.txt
@@ -4,7 +4,6 @@ project(behavior_path_planner_common)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-find_package(OpenCV REQUIRED)
 find_package(magic_enum CONFIG REQUIRED)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
@@ -31,10 +30,6 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
 )
 
-target_link_libraries(${PROJECT_NAME}
-  ${OpenCV_LIBRARIES}
-)
-
 if(BUILD_TESTING)
   ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_utilities
     test/test_drivable_area_expansion.cpp

diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp
@@ -21,7 +21,8 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 
 #include <lanelet2_extension/regulatory_elements/Forward.hpp>
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/rclcpp/clock.hpp>
+#include <rclcpp/rclcpp/time.hpp>
 #include <route_handler/route_handler.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
@@ -38,12 +39,11 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_planning_msgs/msg/lateral_offset.hpp>
 
-#include <lanelet2_core/primitives/Lanelet.h>
-
 #include <limits>
 #include <map>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace behavior_path_planner
@@ -100,7 +100,7 @@ struct DrivableAreaInfo
   {
     geometry_msgs::msg::Pose pose;
     tier4_autoware_utils::Polygon2d poly;
-    bool is_left;
+    bool is_left{true};
   };
   std::vector<DrivableLanes> drivable_lanes{};
   std::vector<Obstacle> obstacles{};  // obstacles to extract from the drivable area
@@ -136,7 +136,7 @@ struct BehaviorModuleOutput
 struct CandidateOutput
 {
   CandidateOutput() = default;
-  explicit CandidateOutput(const PathWithLaneId & path) : path_candidate{path} {}
+  explicit CandidateOutput(PathWithLaneId path) : path_candidate{std::move(path)} {}
   PathWithLaneId path_candidate{};
   double lateral_shift{0.0};
   double start_distance_to_path_change{std::numeric_limits<double>::lowest()};

diff --git a/..._common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/..._common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -19,10 +19,13 @@
 #include "behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "tier4_autoware_utils/ros/parameter.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/parameter.hpp>
+#include <rclcpp/publisher.hpp>
 
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
+#include <cstddef>
 #include <limits>
 #include <memory>
 #include <string>
@@ -44,7 +47,11 @@ using SceneModuleObserver = std::weak_ptr<SceneModuleInterface>;
 class SceneModuleManagerInterface
 {
 public:
-  explicit SceneModuleManagerInterface(const std::string & name) : name_{name} {}
+  SceneModuleManagerInterface(const SceneModuleManagerInterface &) = delete;
+  SceneModuleManagerInterface(SceneModuleManagerInterface &&) = delete;
+  SceneModuleManagerInterface & operator=(const SceneModuleManagerInterface &) = delete;
+  SceneModuleManagerInterface & operator=(SceneModuleManagerInterface &&) = delete;
+  explicit SceneModuleManagerInterface(std::string name) : name_{std::move(name)} {}
 
   virtual ~SceneModuleManagerInterface() = default;
 
@@ -275,7 +282,7 @@ class SceneModuleManagerInterface
     for (const auto & rtc_type : rtc_types) {
       const auto snake_case_name = utils::convertToSnakeCase(name_);
       const auto rtc_interface_name =
-        rtc_type == "" ? snake_case_name : snake_case_name + "_" + rtc_type;
+        rtc_type.empty() ? snake_case_name : snake_case_name + "_" + rtc_type;
       rtc_interface_ptr_map_.emplace(
         rtc_type, std::make_shared<RTCInterface>(node, rtc_interface_name, config_.enable_rtc));
       objects_of_interest_marker_interface_ptr_map_.emplace(
@@ -298,7 +305,7 @@ class SceneModuleManagerInterface
 
   virtual std::unique_ptr<SceneModuleInterface> createNewSceneModuleInstance() = 0;
 
-  rclcpp::Node * node_;
+  rclcpp::Node * node_ = nullptr;
 
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_info_marker_;
 

diff --git a/...anner_common/include/behavior_path_planner_common/interface/steering_factor_interface.hpp b/...anner_common/include/behavior_path_planner_common/interface/steering_factor_interface.hpp
@@ -37,7 +37,7 @@ class SteeringFactorInterface
   void updateSteeringFactor(
     const std::array<Pose, 2> & poses, const std::array<double, 2> distances,
     const std::string & behavior, const uint16_t direction, const uint16_t status,
-    const std::string detail);
+    const std::string & detail);
   void clearSteeringFactors();
 
 private:

diff --git a/...behavior_path_planner_common/include/behavior_path_planner_common/marker_utils/colors.hpp b/...behavior_path_planner_common/include/behavior_path_planner_common/marker_utils/colors.hpp
@@ -16,7 +16,7 @@
 
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 
-#include "std_msgs/msg/color_rgba.hpp"
+#include "std_msgs/msg/detail/color_rgba__struct.hpp"
 
 #include <vector>
 

diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp
@@ -17,9 +17,6 @@
 
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <utility>
-#include <vector>
-
 struct ModuleConfigParameters
 {
   bool enable_module{false};

diff --git a/...behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp b/...behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp
@@ -39,7 +39,7 @@ using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using route_handler::RouteHandler;
 
-const std::map<std::string, uint8_t> signal_map = {
+const std::map<std::string, uint8_t> g_signal_map = {
   {"left", TurnIndicatorsCommand::ENABLE_LEFT},
   {"right", TurnIndicatorsCommand::ENABLE_RIGHT},
   {"straight", TurnIndicatorsCommand::DISABLE},

diff --git a/..._common/include/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp b/..._common/include/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
@@ -22,13 +22,6 @@
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/vector3.hpp>
-
-#include <boost/geometry.hpp>
-#include <boost/geometry/algorithms/intersection.hpp>
-#include <boost/geometry/algorithms/overlaps.hpp>
-#include <boost/geometry/index/predicates.hpp>
-#include <boost/geometry/index/rtree.hpp>
 
 namespace drivable_area_expansion
 {

diff --git a/...on/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp b/...on/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp
@@ -19,7 +19,7 @@
 
 #include <interpolation/linear_interpolation.hpp>
 
-#include <boost/geometry.hpp>
+#include <boost/geometry/algorithms/distance.hpp>
 
 #include <limits>
 
@@ -141,13 +141,11 @@ inline Segment2d linestring_to_point_projection(
 
   const auto lerp_ratio = (arc_length - prev_arc_length) / (curr_arc_length - prev_arc_length);
   const auto base_point = lerp_point(*std::prev(ls_iterator), *ls_iterator, lerp_ratio);
-  if (distance == 0.0)
-    return {base_point, base_point};
-  else if (lerp_ratio >= 1.0)  // base point is beyond the 2nd segment point -> calculate normal in
-                               // the other direction
+  if (distance == 0.0) return {base_point, base_point};
+  if (lerp_ratio >= 1.0)  // base point is beyond the 2nd segment point -> calculate normal in
+                          // the other direction
     return {base_point, normal_at_distance(base_point, *std::prev(ls_iterator), -distance)};
-  else
-    return {base_point, normal_at_distance(base_point, *ls_iterator, distance)};
+  return {base_point, normal_at_distance(base_point, *ls_iterator, distance)};
 }
 
 /// @brief create a sub linestring between the given arc lengths

diff --git a/...anner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp b/...anner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
@@ -41,18 +41,18 @@ using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 using tier4_autoware_utils::Segment2d;
 
-typedef boost::geometry::index::rtree<Segment2d, boost::geometry::index::rstar<16>> SegmentRtree;
+using SegmentRtree = boost::geometry::index::rtree<Segment2d, boost::geometry::index::rstar<16>>;
 
 struct PointDistance
 {
   Point2d point;
-  double distance;
+  double distance{0.0};
 };
 struct Projection
 {
   Point2d projected_point;
-  double distance;
-  double arc_length;
+  double distance{0.0};
+  double arc_length{0.0};
 };
 enum Side { LEFT, RIGHT };
 

diff --git a/...utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp b/...utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
@@ -21,14 +21,6 @@
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
-#include <tf2/utils.h>
-
-#ifdef ROS_DISTRO_GALACTIC
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
-
 #include <vector>
 
 namespace behavior_path_planner
@@ -74,8 +66,8 @@ struct OccupancyGridMapParam
   VehicleShape vehicle_shape;
 
   // costmap configs
-  int theta_size;          // discretized angle table size [-]
-  int obstacle_threshold;  // obstacle threshold on grid [-]
+  int theta_size{0};          // discretized angle table size [-]
+  int obstacle_threshold{0};  // obstacle threshold on grid [-]
 };
 
 struct PlannerWaypoint
@@ -93,7 +85,12 @@ struct PlannerWaypoints
 class OccupancyGridBasedCollisionDetector
 {
 public:
-  OccupancyGridBasedCollisionDetector() {}
+  OccupancyGridBasedCollisionDetector() = default;
+  OccupancyGridBasedCollisionDetector(const OccupancyGridBasedCollisionDetector &) = default;
+  OccupancyGridBasedCollisionDetector(OccupancyGridBasedCollisionDetector &&) = delete;
+  OccupancyGridBasedCollisionDetector & operator=(const OccupancyGridBasedCollisionDetector &) =
+    default;
+  OccupancyGridBasedCollisionDetector & operator=(OccupancyGridBasedCollisionDetector &&) = delete;
   void setParam(const OccupancyGridMapParam & param) { param_ = param; };
   OccupancyGridMapParam getParam() const { return param_; };
   void setMap(const nav_msgs::msg::OccupancyGrid & costmap);
@@ -106,7 +103,7 @@ class OccupancyGridBasedCollisionDetector
     const bool check_out_of_range) const;
   const PlannerWaypoints & getWaypoints() const { return waypoints_; }
   bool detectCollision(const IndexXYT & base_index, const bool check_out_of_range) const;
-  virtual ~OccupancyGridBasedCollisionDetector() {}
+  virtual ~OccupancyGridBasedCollisionDetector() = default;
 
 protected:
   void computeCollisionIndexes(int theta_index, std::vector<IndexXY> & indexes);

diff --git a/...ommon/include/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp b/...ommon/include/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp
@@ -17,8 +17,6 @@
 
 #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 
 #include <vector>