refactor(factor): move steering factor interface to motion utils (#9337)

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Nov 18, 2024 · 6f40830 · 6f40830
1 parent 08951b2
commit 6f40830
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Showing 6 changed files with 16 additions and 22 deletions.
diff --git a/...n/interface/steering_factor_interface.hpp → ...tils/factor/steering_factor_interface.hpp b/...n/interface/steering_factor_interface.hpp → ...tils/factor/steering_factor_interface.hpp
@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc.
+// Copyright 2022 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,19 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_
-
-#include <rclcpp/rclcpp.hpp>
+#ifndef AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_
+#define AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_
 
 #include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
 #include <autoware_adapi_v1_msgs/msg/steering_factor.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
-#include <mutex>
 #include <string>
 
-namespace steering_factor_interface
+namespace autoware::motion_utils
 {
 
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
@@ -49,6 +46,6 @@ class SteeringFactorInterface
   SteeringFactor steering_factor_{};
 };
 
-}  // namespace steering_factor_interface
+}  // namespace autoware::motion_utils
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__STEERING_FACTOR_INTERFACE_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__FACTOR__STEERING_FACTOR_INTERFACE_HPP_
diff --git a/...c/interface/steering_factor_interface.cpp → .../src/factor/steering_factor_interface.cpp b/...c/interface/steering_factor_interface.cpp → .../src/factor/steering_factor_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc.
+// Copyright 2022 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp"
+#include <autoware/motion_utils/factor/steering_factor_interface.hpp>
 
-namespace steering_factor_interface
+namespace autoware::motion_utils
 {
 void SteeringFactorInterface::set(
   const std::array<Pose, 2> & pose, const std::array<double, 2> distance, const uint16_t direction,
@@ -29,4 +29,4 @@ void SteeringFactorInterface::set(
   steering_factor_.status = status;
   steering_factor_.detail = detail;
 }
-}  // namespace steering_factor_interface
+}  // namespace autoware::motion_utils
diff --git a/...havior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/...havior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
@@ -17,10 +17,10 @@
 
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
-#include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp"
 #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "planner_manager.hpp"
 
+#include <autoware/motion_utils/factor/steering_factor_interface.hpp>
 #include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
@@ -52,6 +52,7 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware::motion_utils::SteeringFactorInterface;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_perception_msgs::msg::PredictedObject;
@@ -65,7 +66,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using rcl_interfaces::msg::SetParametersResult;
-using steering_factor_interface::SteeringFactorInterface;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using tier4_planning_msgs::msg::LateralOffset;
 using tier4_planning_msgs::msg::PathWithLaneId;

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt
@@ -8,7 +8,6 @@ find_package(magic_enum CONFIG REQUIRED)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/turn_signal_decider.cpp
-  src/interface/steering_factor_interface.cpp
   src/interface/scene_module_visitor.cpp
   src/interface/scene_module_interface.cpp
   src/interface/scene_module_manager_interface.cpp

diff --git a/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -20,8 +20,8 @@
 #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
-#include <autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp>
 #include <autoware/behavior_path_planner_common/turn_signal_decider.hpp>
+#include <autoware/motion_utils/factor/steering_factor_interface.hpp>
 #include <autoware/motion_utils/marker/marker_helper.hpp>
 #include <autoware/motion_utils/trajectory/path_with_lane_id.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
@@ -35,8 +35,7 @@
 #include <magic_enum.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
-#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
+#include <autoware_adapi_v1_msgs/msg/steering_factor.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/stop_factor.hpp>
@@ -57,14 +56,14 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware::motion_utils::SteeringFactorInterface;
 using autoware::objects_of_interest_marker_interface::ColorName;
 using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface;
 using autoware::rtc_interface::RTCInterface;
 using autoware::universe_utils::calcOffsetPose;
 using autoware::universe_utils::generateUUID;
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::SteeringFactor;
-using steering_factor_interface::SteeringFactorInterface;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using tier4_planning_msgs::msg::StopFactor;
@@ -74,7 +73,6 @@ using tier4_rtc_msgs::msg::State;
 using unique_identifier_msgs::msg::UUID;
 using visualization_msgs::msg::MarkerArray;
 using PlanResult = PathWithLaneId::SharedPtr;
-using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 
 enum class ModuleStatus {
   IDLE = 0,

diff --git a/...nclude/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/...nclude/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -106,7 +106,7 @@ class SceneModuleManagerInterface
 
   void publishSteeringFactor()
   {
-    autoware_adapi_v1_msgs::msg::SteeringFactorArray steering_factor_array;
+    SteeringFactorArray steering_factor_array;
     steering_factor_array.header.frame_id = "map";
     steering_factor_array.header.stamp = node_->now();