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fix(bpp): use common steering factor interface for same scene modules (#8675) #1503

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Sep 3, 2024
Merged

fix(bpp): use common steering factor interface for same scene modules (#8675) #1503

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4 changes: 3 additions & 1 deletion ...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp
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Expand Up @@ -31,13 +31,15 @@ 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: LaneChangeInterface{
name,
node,
parameters,
rtc_interface_ptr_map,
objects_of_interest_marker_interface_ptr_map,
steering_factor_interface_ptr,
std::make_unique<AvoidanceByLaneChange>(parameters, avoidance_by_lane_change_parameters)}
{
}
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3 changes: 2 additions & 1 deletion ...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
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Expand Up @@ -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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

bool isExecutionRequested() const override;

Expand Down
2 changes: 1 addition & 1 deletion ...avior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
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Expand Up @@ -192,7 +192,7 @@ 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_, steering_factor_interface_ptr_);
}

} // namespace autoware::behavior_path_planner
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2 changes: 1 addition & 1 deletion ...dance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp
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Expand Up @@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<DynamicObstacleAvoidanceModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
}

void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
Expand Down
3 changes: 2 additions & 1 deletion ...oidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
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Expand Up @@ -343,7 +343,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
std::shared_ptr<DynamicAvoidanceParameters> 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

void updateModuleParams(const std::any & parameters) override
{
Expand Down
5 changes: 3 additions & 2 deletions ...avior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
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Expand Up @@ -331,8 +331,9 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule(
std::shared_ptr<DynamicAvoidanceParameters> 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)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
parameters_{std::move(parameters)},
target_objects_manager_{TargetObjectsManager(
parameters_->successive_num_to_entry_dynamic_avoidance_condition,
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4 changes: 2 additions & 2 deletions ...r_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp
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Expand Up @@ -26,7 +26,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance()
{
return std::make_unique<LaneChangeInterface>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
}

Expand All @@ -35,7 +35,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance()
{
return std::make_unique<LaneChangeInterface>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
}

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3 changes: 2 additions & 1 deletion ...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
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Expand Up @@ -307,7 +307,8 @@ class GoalPlannerModule : public SceneModuleInterface
const std::shared_ptr<GoalPlannerParameters> & 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

~GoalPlannerModule()
{
Expand Down
2 changes: 1 addition & 1 deletion ...r_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp
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Expand Up @@ -38,7 +38,7 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<GoalPlannerModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
}

void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
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5 changes: 3 additions & 2 deletions ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Expand Up @@ -57,8 +57,9 @@ GoalPlannerModule::GoalPlannerModule(
const std::shared_ptr<GoalPlannerParameters> & 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)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
parameters_{parameters},
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
thread_safe_data_{mutex_, clock_},
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1 change: 1 addition & 0 deletions ...r_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
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Expand Up @@ -52,6 +52,7 @@ class LaneChangeInterface : public SceneModuleInterface
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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr,
std::unique_ptr<LaneChangeBase> && module_type);

LaneChangeInterface(const LaneChangeInterface &) = delete;
Expand Down
4 changes: 2 additions & 2 deletions planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
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Expand Up @@ -38,14 +38,14 @@ LaneChangeInterface::LaneChangeInterface(
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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr,
std::unique_ptr<LaneChangeBase> && module_type)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
parameters_{std::move(parameters)},
module_type_{std::move(module_type)},
prev_approved_path_{std::make_unique<PathWithLaneId>()}
{
module_type_->setTimeKeeper(getTimeKeeper());
steering_factor_interface_ptr_ = std::make_unique<SteeringFactorInterface>(&node, name);
logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr());
}

Expand Down
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
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Expand Up @@ -299,7 +299,7 @@ std::unique_ptr<SceneModuleInterface> LaneChangeModuleManager::createNewSceneMod
{
return std::make_unique<LaneChangeInterface>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
std::make_unique<NormalLaneChange>(parameters_, LaneChangeModuleType::NORMAL, direction_));
}

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8 changes: 4 additions & 4 deletions ...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
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Expand Up @@ -90,15 +90,15 @@ class SceneModuleInterface
const std::string & name, rclcpp::Node & node,
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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: name_{name},
logger_{node.get_logger().get_child(name)},
clock_{node.get_clock()},
rtc_interface_ptr_map_(std::move(rtc_interface_ptr_map)),
objects_of_interest_marker_interface_ptr_map_(
std::move(objects_of_interest_marker_interface_ptr_map)),
steering_factor_interface_ptr_(
std::make_unique<SteeringFactorInterface>(&node, utils::convertToSnakeCase(name))),
steering_factor_interface_ptr_{steering_factor_interface_ptr},
time_keeper_(std::make_shared<universe_utils::TimeKeeper>())
{
for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
Expand Down Expand Up @@ -640,7 +640,7 @@ class SceneModuleInterface
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>>
objects_of_interest_marker_interface_ptr_map_;

std::unique_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
std::shared_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;

mutable std::optional<Pose> stop_pose_{std::nullopt};

Expand Down
8 changes: 8 additions & 0 deletions ...nclude/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
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Expand Up @@ -315,6 +315,12 @@ class SceneModuleManagerInterface
"~/processing_time/" + name_, 20);
}

// init steering factor
{
steering_factor_interface_ptr_ =
std::make_shared<SteeringFactorInterface>(node, utils::convertToSnakeCase(name_));
}

// misc
{
node_ = node;
Expand All @@ -339,6 +345,8 @@ class SceneModuleManagerInterface

std::shared_ptr<PlannerData> planner_data_;

std::shared_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;

std::vector<SceneModuleObserver> observers_;

std::unique_ptr<SceneModuleInterface> idle_module_ptr_;
Expand Down
2 changes: 1 addition & 1 deletion ...ampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp
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Expand Up @@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<SamplingPlannerModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
}

void updateModuleParams(
Expand Down
3 changes: 2 additions & 1 deletion ...module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
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Expand Up @@ -86,7 +86,8 @@ class SamplingPlannerModule : public SceneModuleInterface
const std::shared_ptr<SamplingPlannerParameters> & 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

bool isExecutionRequested() const override;
bool isExecutionReady() const override;
Expand Down
5 changes: 3 additions & 2 deletions ...th_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
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Expand Up @@ -33,8 +33,9 @@ SamplingPlannerModule::SamplingPlannerModule(
const std::shared_ptr<SamplingPlannerParameters> & 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)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}
{
internal_params_ = std::make_shared<SamplingPlannerInternalParameters>();
Expand Down
2 changes: 1 addition & 1 deletion ...avior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp
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Expand Up @@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<SideShiftModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
}

void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
Expand Down
3 changes: 2 additions & 1 deletion ...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp
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Expand Up @@ -45,7 +45,8 @@ class SideShiftModule : public SceneModuleInterface
const std::shared_ptr<SideShiftParameters> & 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

bool isExecutionRequested() const override;
bool isExecutionReady() const override;
Expand Down
5 changes: 3 additions & 2 deletions planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
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Expand Up @@ -40,8 +40,9 @@ SideShiftModule::SideShiftModule(
const std::shared_ptr<SideShiftParameters> & 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)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
parameters_{parameters}
{
}
Expand Down
2 changes: 1 addition & 1 deletion ...path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp
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Expand Up @@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<StartPlannerModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
}

void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
Expand Down
3 changes: 2 additions & 1 deletion ...anner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp
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Expand Up @@ -88,7 +88,8 @@ class StartPlannerModule : public SceneModuleInterface
const std::shared_ptr<StartPlannerParameters> & 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

~StartPlannerModule() override
{
Expand Down
5 changes: 3 additions & 2 deletions ...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
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Expand Up @@ -59,8 +59,9 @@ StartPlannerModule::StartPlannerModule(
const std::shared_ptr<StartPlannerParameters> & 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)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
parameters_{parameters},
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
is_freespace_planner_cb_running_{false}
Expand Down
2 changes: 1 addition & 1 deletion ...idance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp
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Expand Up @@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<StaticObstacleAvoidanceModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
}

void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
Expand Down
3 changes: 2 additions & 1 deletion ...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
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Expand Up @@ -46,7 +46,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> 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,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);

CandidateOutput planCandidate() const override;
BehaviorModuleOutput plan() override;
Expand Down
5 changes: 3 additions & 2 deletions ...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
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Expand Up @@ -76,8 +76,9 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule(
const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> 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)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
helper_{std::make_shared<AvoidanceHelper>(parameters)},
parameters_{parameters},
generator_{parameters}
Expand Down
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