refactor(lane_change): separate path-related function to utils/path #9633
+532
−672
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
the
component:planning
|
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
|
zulfaqar-azmi-t4
force-pushed
the
refactor-lc-path-utils
branch
from
0ac30be to
43e731e
Compare
zulfaqar-azmi-t4
requested review from
mkquda,
rej55,
kosuke55,
maxime-clem,
satoshi-ota,
shmpwk,
TomohitoAndo and
tkimura4
as code owners
zulfaqar-azmi-t4
force-pushed
the
refactor-lc-path-utils
branch
from
43e731e to
007cef7
Compare
mkquda
reviewed
Dec 16, 2024
| @@ -60,15 +61,9 @@ using geometry_msgs::msg::Pose; | |||
| using geometry_msgs::msg::Twist; | |||
| using path_safety_checker::CollisionCheckDebugMap; | |||
| using tier4_planning_msgs::msg::PathWithLaneId; | |||
|
|
|||
| rclcpp::Logger get_logger(); | |||
There was a problem hiding this comment.
do you need to declare it in the header?
There was a problem hiding this comment.
I want dont want to re-use the logger in utils/path, so this have to be in the header.
mkquda
reviewed
Dec 17, 2024
Comment on lines
161
to
164
| const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & target_lanes, | ||
| const Pose & lane_changing_start_pose, const double target_lane_length, | ||
| const double lane_changing_length, const double lane_changing_velocity, | ||
| const double buffer_for_next_lane_change) |
There was a problem hiding this comment.
I think you can get target_lanes, target_lane_length and buffer_for_next_lane_changefrom common_data_ptr
Just to reduce number of inputs
There was a problem hiding this comment.
since it is only used in the old calcTerminalLaneChange, as discussed yesterday, I remove the function together with the calcTerminalLaneChange function.
Signed-off-by: Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4
force-pushed
the
refactor-lc-path-utils
branch
from
007cef7 to
df1ff38
Compare
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Move candidate path generator/constructor-related function to
utils/path.hpp/cpp.If we planning on adding new path generation functions, utils.hpp/cpp file might be overcrowded. So for maintainability purpose, it is better to isolate these functions.
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.