From 44c187baf145aa750811770dd06745ab92e3b79b Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Wed, 20 Mar 2024 22:17:13 +0900 Subject: [PATCH] Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi --- .../utils/data_structs.hpp | 4 ++-- planning/behavior_path_lane_change_module/src/manager.cpp | 8 ++++---- planning/behavior_path_lane_change_module/src/scene.cpp | 4 ++-- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp index 7f29bcffb294d..0d77135fda242 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_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 index 6556f47d8d18d..7045544df50aa 100644 --- 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(*node, parameter("max_longitudinal_acc")); // collision check - p.enable_prepare_segment_collision_check_in_general_areas = getOrDeclareParameter( - *node, parameter("enable_prepare_segment_collision_check.general_areas")); - p.enable_prepare_segment_collision_check_in_intersection = getOrDeclareParameter( - *node, parameter("enable_prepare_segment_collision_check.intersection")); + p.enable_collision_check_for_prepare_phase_in_general_lanes = getOrDeclareParameter( + *node, parameter("enable_collision_check_for_prepare_phase.general_lanes")); + p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter( + *node, parameter("enable_collision_check_for_prepare_phase.intersection")); p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter( *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 index 7b72147891e83..7a125409a8289 100644 --- 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