Refactor: remove duplicated data: behavior_parameter

Signed-off-by: Mateusz Palczuk <[email protected]>
tier4 · Dec 19, 2024 · 08c2505 · 08c2505
1 parent 96318b4
commit 08c2505
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Showing 7 changed files with 7 additions and 16 deletions.
diff --git a/...ee_plugin/src/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp b/...ee_plugin/src/pedestrian/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp
@@ -79,7 +79,7 @@ auto FollowPolylineTrajectoryAction::tick() -> BT::NodeStatus
                  traffic_simulator::follow_trajectory::ValidatedEntityStatus(
                    static_cast<traffic_simulator::EntityStatus>(*canonicalized_entity_status),
                    behavior_parameter, step_time),
-                 hdmap_utils, behavior_parameter, *polyline_trajectory,
+                 hdmap_utils, *polyline_trajectory,
                  default_matching_distance_for_lanelet_pose_calculation, getTargetSpeed(),
                  step_time);
              entity_status_updated.has_value()) {

diff --git a/..._tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp b/..._tree_plugin/src/vehicle/follow_trajectory_sequence/follow_polyline_trajectory_action.cpp
@@ -79,7 +79,7 @@ auto FollowPolylineTrajectoryAction::tick() -> BT::NodeStatus
                  traffic_simulator::follow_trajectory::ValidatedEntityStatus(
                    static_cast<traffic_simulator::EntityStatus>(*canonicalized_entity_status),
                    behavior_parameter, step_time),
-                 hdmap_utils, behavior_parameter, *polyline_trajectory,
+                 hdmap_utils, *polyline_trajectory,
                  default_matching_distance_for_lanelet_pose_calculation, getTargetSpeed(),
                  step_time);
              entity_status_updated.has_value()) {

diff --git a/.../traffic_simulator/behavior/polyline_trajectory_follower/polyline_trajectory_follower.hpp b/.../traffic_simulator/behavior/polyline_trajectory_follower/polyline_trajectory_follower.hpp
@@ -21,7 +21,6 @@
 #include <traffic_simulator/behavior/polyline_trajectory_follower/validated_entity_status.hpp>
 #include <traffic_simulator/data_type/entity_status.hpp>
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
-#include <traffic_simulator_msgs/msg/behavior_parameter.hpp>
 #include <traffic_simulator_msgs/msg/entity_status.hpp>
 #include <traffic_simulator_msgs/msg/polyline_trajectory.hpp>
 
@@ -37,7 +36,6 @@ struct PolylineTrajectoryFollower
   static auto makeUpdatedEntityStatus(
     const ValidatedEntityStatus & validated_entity_status,
     const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr,
-    const traffic_simulator_msgs::msg::BehaviorParameter & behavior_parameter,
     traffic_simulator_msgs::msg::PolylineTrajectory & polyline_trajectory,
     const double matching_distance, const std::optional<double> target_speed,
     const double step_time) -> std::optional<EntityStatus>;

diff --git a/...raffic_simulator/behavior/polyline_trajectory_follower/polyline_trajectory_positioner.hpp b/...raffic_simulator/behavior/polyline_trajectory_follower/polyline_trajectory_positioner.hpp
@@ -20,7 +20,6 @@
 #include <traffic_simulator/behavior/polyline_trajectory_follower/validated_entity_status.hpp>
 #include <traffic_simulator/data_type/entity_status.hpp>
 #include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
-#include <traffic_simulator_msgs/msg/behavior_parameter.hpp>
 #include <traffic_simulator_msgs/msg/entity_status.hpp>
 #include <traffic_simulator_msgs/msg/polyline_trajectory.hpp>
 
@@ -36,7 +35,6 @@ struct PolylineTrajectoryPositioner
     const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr,
     const ValidatedEntityStatus & validated_entity_status,
     const traffic_simulator_msgs::msg::PolylineTrajectory & polyline_trajectory,
-    const traffic_simulator_msgs::msg::BehaviorParameter & behavior_parameter,
     const std::optional<double> target_speed, const double matching_distance,
     const double step_time);
 
@@ -45,7 +43,6 @@ struct PolylineTrajectoryPositioner
 private:
   const std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils_ptr;
   const ValidatedEntityStatus validated_entity_status;
-  const traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter;
   const traffic_simulator_msgs::msg::PolylineTrajectory polyline_trajectory;
   const double step_time;
   const double matching_distance;

diff --git a/...ffic_simulator/src/behavior/polyline_trajectory_follower/polyline_trajectory_follower.cpp b/...ffic_simulator/src/behavior/polyline_trajectory_follower/polyline_trajectory_follower.cpp
@@ -35,18 +35,16 @@ namespace follow_trajectory
 auto PolylineTrajectoryFollower::makeUpdatedEntityStatus(
   const ValidatedEntityStatus & validated_entity_status,
   const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr,
-  const traffic_simulator_msgs::msg::BehaviorParameter & behavior_parameter,
   traffic_simulator_msgs::msg::PolylineTrajectory & polyline_trajectory,
   const double matching_distance, const std::optional<double> target_speed, const double step_time)
   -> std::optional<EntityStatus>
 {
   assert(step_time > 0.0);
   while (not polyline_trajectory.shape.vertices.empty()) {
-    const auto updated_entity_opt =
-      PolylineTrajectoryPositioner(
-        hdmap_utils_ptr, validated_entity_status, polyline_trajectory, behavior_parameter,
-        target_speed, matching_distance, step_time)
-        .makeUpdatedEntityStatus();
+    const auto updated_entity_opt = PolylineTrajectoryPositioner(
+                                      hdmap_utils_ptr, validated_entity_status, polyline_trajectory,
+                                      target_speed, matching_distance, step_time)
+                                      .makeUpdatedEntityStatus();
     if (updated_entity_opt.has_value()) {
       return updated_entity_opt;
     } else {

diff --git a/...ic_simulator/src/behavior/polyline_trajectory_follower/polyline_trajectory_positioner.cpp b/...ic_simulator/src/behavior/polyline_trajectory_follower/polyline_trajectory_positioner.cpp
@@ -36,11 +36,9 @@ PolylineTrajectoryPositioner::PolylineTrajectoryPositioner(
   const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr,
   const ValidatedEntityStatus & validated_entity_status,
   const traffic_simulator_msgs::msg::PolylineTrajectory & polyline_trajectory,
-  const traffic_simulator_msgs::msg::BehaviorParameter & behavior_parameter,
   const std::optional<double> target_speed, const double matching_distance, const double step_time)
 : hdmap_utils_ptr(hdmap_utils_ptr),
   validated_entity_status(validated_entity_status),
-  behavior_parameter(behavior_parameter),
   polyline_trajectory(polyline_trajectory),
   step_time(step_time),
   matching_distance(matching_distance),

diff --git a/simulation/traffic_simulator/src/entity/ego_entity.cpp b/simulation/traffic_simulator/src/entity/ego_entity.cpp
@@ -159,7 +159,7 @@ void EgoEntity::onUpdate(double current_time, double step_time)
             traffic_simulator::follow_trajectory::ValidatedEntityStatus(
               static_cast<traffic_simulator::EntityStatus>(*status_), behavior_parameter_,
               step_time),
-            hdmap_utils_ptr_, behavior_parameter_, *polyline_trajectory_,
+            hdmap_utils_ptr_, *polyline_trajectory_,
             getDefaultMatchingDistanceForLaneletPoseCalculation(), getTargetSpeed(), step_time);
         non_canonicalized_updated_status.has_value()) {
       // prefer current lanelet on ss2 side