Rearrange code structure

Signed-off-by: TaikiYamada4 <[email protected]>

map/autoware_lanelet2_map_validator/src/include/lanelet2_map_validator/validators/traffic_light/traffic_light_facing.hpp

@@ -55,19 +55,6 @@ class TrafficLightFacingValidator : public lanelet::validation::MapValidator
   lanelet::ConstLineString3d get_stop_line_from_reg_elem(
     const lanelet::RegulatoryElementConstPtr & reg_elem);
 
-  /**
-   * @brief Returns a linestring that connects both ends of the left and right bounds
-   * of the input lanelet. There might be two candidates (front and back) but this function
-   * only returns the one near to the input 'reference'. This is used to get a directional
-   * stop line from the lanelet here.
-   *
-   * @param lanelet
-   * @param reference
-   * @return lanelet::LineString3d
-   */
-  lanelet::LineString3d get_starting_edge_from_lanelet(
-    const lanelet::ConstLanelet & lanelet, const lanelet::ConstLineString3d & reference);
-
   /**
    * @brief Returns lanelets that refers the regulatory element specified by the input id
    * from the input lanelet map.
@@ -80,13 +67,26 @@ class TrafficLightFacingValidator : public lanelet::validation::MapValidator
     const lanelet::LaneletMap & map, const lanelet::Id reg_elem_id);
 
   /**
-   * @brief Convert lanelet::ConstLineString3d to a vector3d. The linestring must be made from two
-   * points.
+   * @brief Convert lanelet::ConstLineString3d to a Eigen::Vector3d.
+   * The linestring must be made only from two points.
    *
    * @param linestring
    * @return Eigen::Vector3d
    */
   Eigen::Vector3d linestring_to_vector3d(const lanelet::ConstLineString3d linestring);
+
+  /**
+   * @brief Returns a linestring that connects both ends of the left and right bounds
+   * of the input lanelet. There might be two candidates (front and back) but this function
+   * only returns the one near to the input 'reference'. This is used to get a directional
+   * stop line from the lanelet here.
+   *
+   * @param lanelet
+   * @param reference
+   * @return lanelet::LineString3d
+   */
+  lanelet::LineString3d get_starting_edge_from_lanelet(
+    const lanelet::ConstLanelet & lanelet, const lanelet::ConstLineString3d & reference);
 };
 }  // namespace lanelet::autoware::validation
 

map/autoware_lanelet2_map_validator/src/validators/traffic_light/traffic_light_facing.cpp

@@ -82,8 +82,8 @@ lanelet::validation::Issues TrafficLightFacingValidator::check_traffic_light_fac
         continue;
       }
 
-      // Assume the psuedo stop line from the first lanelet and check it is similar to the ones
-      // of other lanelets
+      // Estimate the psuedo stop line from the first lanelet and check whether it is similar to
+      // those of other lanelets
       lanelet::ConstLineString3d temp_pseudo_stop_line =
         get_starting_edge_from_lanelet(referring_lanelets[0], stop_line);