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refactor(goal_planner): refactoring plan flow and add post process #5554

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merged 6 commits into from
Nov 14, 2023
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refactor(goal_planner): refactoring plan flow and add post process #5554

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e1d18df
refactor(goal_planner): refactoring plan flow and add post process
kosuke55 Nov 6, 2023
20259e2
add plan flow
kosuke55 Nov 14, 2023
36d4457
add reason of early return
kosuke55 Nov 14, 2023
ab8ea5c
typo
kosuke55 Nov 14, 2023
ca1bc6c
fix path_candidate_
kosuke55 Nov 14, 2023
a035d57
pub path candidate after approval
kosuke55 Nov 14, 2023
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31 changes: 26 additions & 5 deletions ...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -287,27 +287,47 @@
}
}

CandidateOutput planCandidate() const override;
BehaviorModuleOutput plan() override;
BehaviorModuleOutput planWaitingApproval() override;
bool isExecutionRequested() const override;
bool isExecutionReady() const override;
void processOnExit() override;
void updateData() override;
void postProcess() override;
void setParameters(const std::shared_ptr<GoalPlannerParameters> & parameters);
void acceptVisitor(
[[maybe_unused]] const std::shared_ptr<SceneModuleVisitor> & visitor) const override
{
}
CandidateOutput planCandidate() const override { return CandidateOutput{}; }

Check warning on line 302 in planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp

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planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp#L302 

Added line #L302 was not covered by tests

private:
/*　
* state transitions and plan function used in each state
*
* +--------------------------+
* | RUNNING |
* | planPullOverAsCandidate()|
* +------------+-------------+
* | hasDecidedPath()
* 2 v
* +--------------------------+
* | WAITING_APPROVAL |
* | planPullOverAsCandidate()|
* +------------+-------------+
* | isActivated()
* 3 v
* +--------------------------+
* | RUNNING |
* | planPullOverAsOutput() |
* +--------------------------+
*/

// The start_planner activates when it receives a new route,
// so there is no need to terminate the goal planner.
// If terminating it, it may switch to lane following and could generate an inappropriate path.
bool canTransitSuccessState() override { return false; }

bool canTransitFailureState() override { return false; }

bool canTransitIdleToRunningState() override { return true; }

mutable StartGoalPlannerData goal_planner_data_;
Expand Down Expand Up @@ -411,8 +431,9 @@
void returnToLaneParking();

// plan pull over path
BehaviorModuleOutput planWithGoalModification();
BehaviorModuleOutput planWaitingApprovalWithGoalModification();
BehaviorModuleOutput planPullOver();
BehaviorModuleOutput planPullOverAsOutput();
BehaviorModuleOutput planPullOverAsCandidate();
void selectSafePullOverPath();
std::vector<PullOverPath> sortPullOverPathCandidatesByGoalPriority(
const std::vector<PullOverPath> & pull_over_path_candidates,
Expand Down
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