Rename parameters

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Mar 20, 2024 · 44c187b · 44c187b
1 parent 8c10227
commit 44c187b
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/...r_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/...r_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp
@@ -112,8 +112,8 @@ struct LaneChangeParameters
   double max_longitudinal_acc{1.0};
 
   // collision check
-  bool enable_prepare_segment_collision_check_in_general_areas{false};
-  bool enable_prepare_segment_collision_check_in_intersection{true};
+  bool enable_collision_check_for_prepare_phase_in_general_lanes{false};
+  bool enable_collision_check_for_prepare_phase_in_intersection{true};
   double prepare_segment_ignore_object_velocity_thresh{0.1};
   bool check_objects_on_current_lanes{true};
   bool check_objects_on_other_lanes{true};

diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp
@@ -68,10 +68,10 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node)
   p.max_longitudinal_acc = getOrDeclareParameter<double>(*node, parameter("max_longitudinal_acc"));
 
   // collision check
-  p.enable_prepare_segment_collision_check_in_general_areas = getOrDeclareParameter<bool>(
-    *node, parameter("enable_prepare_segment_collision_check.general_areas"));
-  p.enable_prepare_segment_collision_check_in_intersection = getOrDeclareParameter<bool>(
-    *node, parameter("enable_prepare_segment_collision_check.intersection"));
+  p.enable_collision_check_for_prepare_phase_in_general_lanes = getOrDeclareParameter<bool>(
+    *node, parameter("enable_collision_check_for_prepare_phase.general_lanes"));
+  p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter<bool>(
+    *node, parameter("enable_collision_check_for_prepare_phase.intersection"));
   p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter<double>(
     *node, parameter("prepare_segment_ignore_object_velocity_thresh"));
   p.check_objects_on_current_lanes =

diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp
@@ -2091,7 +2091,7 @@ bool NormalLaneChange::check_prepare_phase() const
   const auto & vehicle_info = getCommonParam().vehicle_info;
 
   const auto check_prepare_phase_in_intersection = std::invoke([&]() {
-    if (!lane_change_parameters_->enable_prepare_segment_collision_check_in_intersection) {
+    if (!lane_change_parameters_->enable_collision_check_for_prepare_phase_in_intersection) {
       return false;
     }
 
@@ -2107,7 +2107,7 @@ bool NormalLaneChange::check_prepare_phase() const
   });
 
   return check_prepare_phase_in_intersection ||
-         lane_change_parameters_->enable_prepare_segment_collision_check_in_general_areas;
+         lane_change_parameters_->enable_collision_check_for_prepare_phase_in_general_lanes;
 }
 
 }  // namespace behavior_path_planner