rename planPullOver

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Nov 13, 2023 · d90a5c1 · d90a5c1
1 parent 56c244e
commit d90a5c1
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -391,8 +391,8 @@ class GoalPlannerModule : public SceneModuleInterface
   bool canReturnToLaneParking();
 
   // plan pull over path
-  BehaviorModuleOutput planRunning();
   BehaviorModuleOutput planPullOver();
+  BehaviorModuleOutput planPullOverAsOutput();
   BehaviorModuleOutput planPullOverAsCandidate();
   std::optional<std::pair<PullOverPath, GoalCandidate>> selectPullOverPath(
     const std::vector<PullOverPath> & pull_over_path_candidates,

diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -571,7 +571,7 @@ GoalCandidates GoalPlannerModule::generateGoalCandidates() const
 BehaviorModuleOutput GoalPlannerModule::plan()
 {
   if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) {
-    return planRunning();
+    return planPullOver();
   }
 
   fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput());
@@ -828,13 +828,13 @@ void GoalPlannerModule::decideVelocity()
   }
 }
 
-BehaviorModuleOutput GoalPlannerModule::planRunning()
+BehaviorModuleOutput GoalPlannerModule::planPullOver()
 {
   if (!hasDecidedPath()) {
     return planPullOverAsCandidate();
   }
 
-  return planPullOver();
+  return planPullOverAsOutput();
 }
 
 BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate()
@@ -845,7 +845,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate()
   }
 
   BehaviorModuleOutput output{};
-  const BehaviorModuleOutput pull_over_output = planPullOver();
+  const BehaviorModuleOutput pull_over_output = planPullOverAsOutput();
   output.modified_goal = pull_over_output.modified_goal;
   output.path = std::make_shared<PathWithLaneId>(generateStopPath());
 
@@ -866,7 +866,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate()
   return output;
 }
 
-BehaviorModuleOutput GoalPlannerModule::planPullOver()
+BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput()
 {
   // if pull over path candidates generation is not finished, use previous module output
   if (thread_safe_data_.get_pull_over_path_candidates().empty()) {