feat(AbLC): use planning factor

Signed-off-by: satoshi-ota <[email protected]>
tier4 · Dec 23, 2024 · 8807f43 · 8807f43
1 parent 4e3f4d6
commit 8807f43
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp
@@ -32,13 +32,15 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
   const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
+    objects_of_interest_marker_interface_ptr_map,
+  const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface)
 : LaneChangeInterface{
     name,
     node,
     parameters,
     rtc_interface_ptr_map,
     objects_of_interest_marker_interface_ptr_map,
+    planning_factor_interface,
     std::make_unique<AvoidanceByLaneChange>(parameters, avoidance_by_lane_change_parameters)}
 {
 }

diff --git a/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
@@ -40,7 +40,8 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
     const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface);
 
   bool isExecutionRequested() const override;
 

diff --git a/...avior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/...avior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
@@ -190,7 +190,7 @@ SMIPtr AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
 {
   return std::make_unique<AvoidanceByLaneChangeInterface>(
     name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_,
-    objects_of_interest_marker_interface_ptr_map_);
+    objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);
 }
 
 }  // namespace autoware::behavior_path_planner