From 8807f43660a51dcc2f173781cb95a996b73381e2 Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Tue, 17 Dec 2024 12:00:40 +0900
Subject: [PATCH] feat(AbLC): use planning factor

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../src/interface.cpp                                         | 4 +++-
 .../src/interface.hpp                                         | 3 ++-
 .../src/manager.cpp                                           | 2 +-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp
index 3080ba1045b41..37bee1a178f90 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp
+++ b/planning/behavior_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/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
index c7fbba34b1adb..6e524f3c91341 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
+++ b/planning/behavior_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/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
index c54774a575332..2bf8a60676d72 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
+++ b/planning/behavior_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