refactor(avoidance): add function to check if the object is moving

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Jan 31, 2024 · bb5f76f · bb5f76f
1 parent ae3e758
commit bb5f76f
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -303,8 +303,7 @@ void AvoidanceModule::fillAvoidanceTargetObjects(
     data, parameters_, forward_detection_range + MARGIN, debug);
 
   for (const auto & object : object_outside_target_lane.objects) {
-    ObjectData other_object;
-    other_object.object = object;
+    ObjectData other_object = createObjectData(data, object);
     other_object.reason = "OutOfTargetArea";
     data.other_objects.push_back(other_object);
   }

diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -389,6 +389,14 @@ bool isVehicleTypeObject(const ObjectData & object)
   return true;
 }
 
+bool isMovingObject(
+  const ObjectData & object, const std::shared_ptr<AvoidanceParameters> & parameters)
+{
+  const auto object_type = utils::getHighestProbLabel(object.object.classification);
+  const auto object_parameter = parameters->object_parameters.at(object_type);
+  return object.move_time > object_parameter.moving_time_threshold;
+}
+
 bool isWithinCrosswalk(
   const ObjectData & object,
   const std::shared_ptr<const lanelet::routing::RoutingGraphContainer> & overall_graphs)
@@ -665,9 +673,7 @@ bool isSatisfiedWithCommonCondition(
   }
 
   // Step2. filtered stopped objects.
-  const auto object_type = utils::getHighestProbLabel(object.object.classification);
-  const auto object_parameter = parameters->object_parameters.at(object_type);
-  if (object.move_time > object_parameter.moving_time_threshold) {
+  if (filtering_utils::isMovingObject(object, parameters)) {
     object.reason = AvoidanceDebugFactor::MOVING_OBJECT;
     return false;
   }