refactor(lane_change): separate structs to different folders (autowar…

…efoundation#9625) Signed-off-by: Zulfaqar Azmi <[email protected]>
tier4 · Dec 21, 2024 · 066279a · 066279a
1 parent 491c3f5
commit 066279a
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Showing 16 changed files with 52 additions and 53 deletions.
diff --git a/...h_lane_change_module/utils/base_class.hpp → ...or_path_lane_change_module/base_class.hpp b/...h_lane_change_module/utils/base_class.hpp → ...or_path_lane_change_module/base_class.hpp
@@ -11,12 +11,12 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
@@ -276,20 +276,20 @@ class LaneChangeBase
     }
   }
 
-  LaneChangeStatus status_{};
+  LaneChangeStatus status_;
   PathShifter path_shifter_{};
 
   LaneChangeStates current_lane_change_state_{};
 
-  std::shared_ptr<LaneChangeParameters> lane_change_parameters_{};
-  std::shared_ptr<LaneChangePath> abort_path_{};
-  std::shared_ptr<const PlannerData> planner_data_{};
-  lane_change::CommonDataPtr common_data_ptr_{};
+  std::shared_ptr<LaneChangeParameters> lane_change_parameters_;
+  std::shared_ptr<LaneChangePath> abort_path_;
+  std::shared_ptr<const PlannerData> planner_data_;
+  lane_change::CommonDataPtr common_data_ptr_;
   FilteredLanesObjects filtered_objects_{};
   BehaviorModuleOutput prev_module_output_{};
   std::optional<Pose> lane_change_stop_pose_{std::nullopt};
 
-  PathWithLaneId prev_approved_path_{};
+  PathWithLaneId prev_approved_path_;
 
   int unsafe_hysteresis_count_{0};
   bool is_abort_path_approved_{false};
@@ -311,4 +311,4 @@ class LaneChangeBase
   friend class ::TestNormalLaneChange;
 };
 }  // namespace autoware::behavior_path_planner
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__BASE_CLASS_HPP_
diff --git a/...r_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/...r_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 
+#include "autoware/behavior_path_lane_change_module/base_class.hpp"
 #include "autoware/behavior_path_lane_change_module/scene.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"

diff --git a/...ior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp b/...ior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 #include "autoware/route_handler/route_handler.hpp"
 

diff --git a/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
@@ -14,8 +14,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/base_class.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/base_class.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <memory>
 #include <utility>

diff --git a/...lane_change_module/utils/data_structs.hpp → ..._path_lane_change_module/structs/data.hpp b/...lane_change_module/utils/data_structs.hpp → ..._path_lane_change_module/structs/data.hpp
@@ -11,10 +11,10 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/parameters.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
@@ -72,6 +72,7 @@ struct PhaseMetrics
   double actual_lon_accel{0.0};
   double lat_accel{0.0};
 
+  PhaseMetrics() = default;
   PhaseMetrics(
     const double _duration, const double _length, const double _velocity,
     const double _sampled_lon_accel, const double _actual_lon_accel, const double _lat_accel)
@@ -103,10 +104,10 @@ struct Info
   PhaseInfo duration{0.0, 0.0};
   PhaseInfo length{0.0, 0.0};
 
-  Pose lane_changing_start{};
-  Pose lane_changing_end{};
+  Pose lane_changing_start;
+  Pose lane_changing_end;
 
-  ShiftLine shift_line{};
+  ShiftLine shift_line;
 
   double lateral_acceleration{0.0};
   double terminal_lane_changing_velocity{0.0};
@@ -294,4 +295,4 @@ using FilteredLanesObjects = lane_change::FilteredLanesObjects;
 using LateralAccelerationMap = lane_change::LateralAccelerationMap;
 }  // namespace autoware::behavior_path_planner
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DATA_HPP_
diff --git a/...ane_change_module/utils/debug_structs.hpp → ...path_lane_change_module/structs/debug.hpp b/...ane_change_module/utils/debug_structs.hpp → ...path_lane_change_module/structs/debug.hpp
@@ -11,11 +11,11 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 
 #include <autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp>
 
@@ -76,4 +76,4 @@ struct Debug
 };
 }  // namespace autoware::behavior_path_planner::lane_change
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__DEBUG_HPP_
diff --git a/...h_lane_change_module/utils/parameters.hpp → ...lane_change_module/structs/parameters.hpp b/...h_lane_change_module/utils/parameters.hpp → ...lane_change_module/structs/parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
 
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
@@ -177,4 +177,4 @@ struct Parameters
 
 }  // namespace autoware::behavior_path_planner::lane_change
 
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PARAMETERS_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PARAMETERS_HPP_
diff --git a/...or_path_lane_change_module/utils/path.hpp → ..._path_lane_change_module/structs/path.hpp b/...or_path_lane_change_module/utils/path.hpp → ..._path_lane_change_module/structs/path.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
-#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
+#define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
@@ -29,19 +29,18 @@ using autoware::behavior_path_planner::TurnSignalInfo;
 using tier4_planning_msgs::msg::PathWithLaneId;
 struct Path
 {
-  PathWithLaneId path{};
-  ShiftedPath shifted_path{};
-  Info info{};
+  PathWithLaneId path;
+  ShiftedPath shifted_path;
+  Info info;
 };
 
 struct Status
 {
-  Path lane_change_path{};
+  Path lane_change_path;
   bool is_safe{false};
   bool is_valid_path{false};
   double start_distance{0.0};
 };
-
 }  // namespace autoware::behavior_path_planner::lane_change
 
 namespace autoware::behavior_path_planner
@@ -50,4 +49,4 @@ using LaneChangePath = lane_change::Path;
 using LaneChangePaths = std::vector<lane_change::Path>;
 using LaneChangeStatus = lane_change::Status;
 }  // namespace autoware::behavior_path_planner
-#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__STRUCTS__PATH_HPP_
diff --git a/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/...ane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp
@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <autoware/route_handler/route_handler.hpp>
 

diff --git a/...th_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/...th_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/debug.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <geometry_msgs/msg/detail/polygon__struct.hpp>

diff --git a/...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -678,7 +678,7 @@ void NormalLaneChange::resetParameters()
   is_abort_approval_requested_ = false;
   current_lane_change_state_ = LaneChangeStates::Normal;
   abort_path_ = nullptr;
-  status_ = {};
+  status_ = LaneChangeStatus();
   unsafe_hysteresis_count_ = 0;
   lane_change_debug_.reset();
 

diff --git a/...ing/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/...ing/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
@@ -14,7 +14,6 @@
 
 #include "autoware/behavior_path_planner_common/marker_utils/colors.hpp"
 #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp"
-#include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
 #include <autoware/behavior_path_lane_change_module/utils/markers.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/behavior_path_lane_change_module/utils/utils.hpp"
 
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/path.hpp"
 #include "autoware/behavior_path_planner_common/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"

diff --git a/...or_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp b/...or_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_scene.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_lane_change_module/manager.hpp"
 #include "autoware/behavior_path_lane_change_module/scene.hpp"
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware_test_utils/autoware_test_utils.hpp"
 #include "autoware_test_utils/mock_data_parser.hpp"

diff --git a/...or_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp b/...or_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
@@ -11,7 +11,7 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware/behavior_path_lane_change_module/structs/data.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/math/unit_conversion.hpp>