chore(autoware_behavior_velocity_stop_line_module): resolve warnings of clangd

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/behavior_velocity_planner_common/utilization/util.hpp"
+#include "autoware/motion_utils/marker/virtual_wall_marker_creator.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "scene.hpp"
 
-#include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -44,7 +44,7 @@
     visualization_msgs::msg::Marker marker;
     marker.header.frame_id = "map";
     marker.ns = "search_segments";
-    marker.id = module_id;
+    marker.id = static_cast<int>(module_id);
     marker.lifetime = rclcpp::Duration::from_seconds(0.5);
     marker.type = visualization_msgs::msg::Marker::SPHERE_LIST;
     marker.action = visualization_msgs::msg::Marker::ADD;
@@ -64,7 +64,8 @@
     visualization_msgs::msg::Marker marker;
     marker.header.frame_id = "map";
     marker.ns = "search_stopline";
-    marker.id = module_id;
+    marker.id = static_cast<int>(module_id);
+    ;
     marker.lifetime = rclcpp::Duration::from_seconds(0.5);
     marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
     marker.action = visualization_msgs::msg::Marker::ADD;

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp

@@ -14,7 +14,9 @@
 
 #include "manager.hpp"
 
+#include "autoware/behavior_velocity_planner_common/plugin_interface.hpp"
 #include "autoware/universe_utils/ros/parameter.hpp"
+#include "lanelet2_core/primitives/BasicRegulatoryElements.h"
 
 #include <memory>
 #include <set>
@@ -27,7 +29,7 @@ using autoware::universe_utils::getOrDeclareParameter;
 using lanelet::TrafficSign;
 
 StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterface(node, getModuleName())
+: SceneModuleManagerInterface(node, getModuleName()), planner_param_()
 {
   const std::string ns(getModuleName());
   auto & p = planner_param_;
@@ -57,7 +59,7 @@ std::vector<StopLineWithLaneId> StopLineModuleManager::getStopLinesWithLaneIdOnP
     }
 
     for (const auto & stop_line : traffic_sign_reg_elem->refLines()) {
-      stop_lines_with_lane_id.push_back(std::make_pair(stop_line, lane_id));
+      stop_lines_with_lane_id.emplace_back(stop_line, lane_id);
     }
   }
 

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.hpp

@@ -15,11 +15,10 @@
 #ifndef MANAGER_HPP_
 #define MANAGER_HPP_
 
+#include "autoware/behavior_velocity_planner_common/plugin_wrapper.hpp"
+#include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp"
 #include "scene.hpp"
 
-#include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
-#include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp

@@ -14,32 +14,34 @@
 
 #include "scene.hpp"
 
-#include <autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp>
-#include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <autoware/universe_utils/system/time_keeper.hpp>
-
-#include <algorithm>
-#include <vector>
+#include "autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp"
+#include "autoware/behavior_velocity_planner_common/utilization/util.hpp"
+#include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/universe_utils/system/time_keeper.hpp"
 
 namespace autoware::behavior_velocity_planner
 {
-namespace bg = boost::geometry;
 
 StopLineModule::StopLineModule(
-  const int64_t module_id, const size_t lane_id, const lanelet::ConstLineString3d & stop_line,
-  const PlannerParam & planner_param, const rclcpp::Logger logger,
+  const int64_t module_id, const int64_t lane_id, const lanelet::ConstLineString3d & stop_line,
+  const PlannerParam & planner_param, const rclcpp::Logger & logger,
   const rclcpp::Clock::SharedPtr clock)
 : SceneModuleInterface(module_id, logger, clock),
   lane_id_(lane_id),
   stop_line_(stop_line),
   state_(State::APPROACH),
+  planner_param_(planner_param),
   debug_data_()
 {
   velocity_factor_.init(PlanningBehavior::STOP_SIGN);
-  planner_param_ = planner_param;
 }
 
+struct SegmentIndexWithPose
+{
+  size_t index = 0;
+  geometry_msgs::msg::Pose pose;
+};
+
 bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)
 {
   universe_utils::ScopedTimeTrack st(

planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.hpp

@@ -15,23 +15,17 @@
 #ifndef SCENE_HPP_
 #define SCENE_HPP_
 
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
-#include <vector>
+#include "autoware/behavior_velocity_planner_common/scene_module_interface.hpp"
+#include "autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp"
+#include "autoware/behavior_velocity_planner_common/utilization/util.hpp"
+#include "lanelet2_core/primitives/LineString.h"
 
-#define EIGEN_MPL2_ONLY
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
-#include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
-#include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <autoware_lanelet2_extension/utility/query.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <lanelet2_core/LaneletMap.h>
-#include <lanelet2_routing/RoutingGraph.h>
+#include <cstdint>
+#include <memory>
+#include <utility>
+#include <vector>
 
 namespace autoware::behavior_velocity_planner
 {
@@ -40,24 +34,13 @@ class StopLineModule : public SceneModuleInterface
   using StopLineWithLaneId = std::pair<lanelet::ConstLineString3d, int64_t>;
 
 public:
-  enum class State { APPROACH, STOPPED, START };
-
-  struct SegmentIndexWithPose
-  {
-    size_t index;
-    geometry_msgs::msg::Pose pose;
-  };
-
-  struct SegmentIndexWithPoint2d
-  {
-    size_t index;
-    Point2d point;
-  };
-
-  struct SegmentIndexWithOffset
+  struct PlannerParam
   {
-    size_t index;
-    double offset;
+    double stop_margin;
+    double stop_duration_sec;
+    double hold_stop_margin_distance;
+    bool use_initialization_stop_line_state;
+    bool show_stop_line_collision_check;
   };
 
   struct DebugData
@@ -68,19 +51,9 @@ class StopLineModule : public SceneModuleInterface
     LineString2d search_stopline;
   };
 
-  struct PlannerParam
-  {
-    double stop_margin;
-    double stop_duration_sec;
-    double hold_stop_margin_distance;
-    bool use_initialization_stop_line_state;
-    bool show_stop_line_collision_check;
-  };
-
-public:
   StopLineModule(
-    const int64_t module_id, const size_t lane_id, const lanelet::ConstLineString3d & stop_line,
-    const PlannerParam & planner_param, const rclcpp::Logger logger,
+    const int64_t module_id, const int64_t lane_id, const lanelet::ConstLineString3d & stop_line,
+    const PlannerParam & planner_param, const rclcpp::Logger & logger,
     const rclcpp::Clock::SharedPtr clock);
 
   bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override;
@@ -89,9 +62,12 @@ class StopLineModule : public SceneModuleInterface
   autoware::motion_utils::VirtualWalls createVirtualWalls() override;
 
 private:
+  enum class State { APPROACH, STOPPED, START };
+
   std::shared_ptr<const rclcpp::Time> stopped_time_;
 
-  geometry_msgs::msg::Point getCenterOfStopLine(const lanelet::ConstLineString3d & stop_line);
+  static geometry_msgs::msg::Point getCenterOfStopLine(
+    const lanelet::ConstLineString3d & stop_line);
 
   int64_t lane_id_;