refactor(lane_following): remove duplicated reference path generation process #3398

satoshi-ota · 2023-04-14T00:02:30Z

Description

Remove duplicated process from planner_manager.cpp and lane_following_module.cpp.

Tests performed

There is no critical degration.

NOTE: UC-A-04-00099_001_case01_cmn, UC-A-04-00107_001_case01_cmn are out of scope. These fails depends on other problems.

Effects on system behavior

nothing.

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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

codecov · 2023-04-14T00:57:36Z

Codecov Report

Patch coverage has no change and project coverage change: -0.08 ⚠️

Comparison is base (806a2ac) 12.33% compared to head (72c3a1d) 12.25%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3398      +/-   ##
==========================================
- Coverage   12.33%   12.25%   -0.08%     
==========================================
  Files        1380     1381       +1     
  Lines       96604    97231     +627     
  Branches    27883    28201     +318     
==========================================
  Hits        11918    11918              
- Misses      72056    72683     +627     
  Partials    12630    12630

Flag	Coverage Δ		*Carryforward flag
differential	`5.36% <0.00%> (?)`
total	`12.34% <ø> (+<0.01%)`	⬆️	Carriedforward from 806a2ac

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ne_module/lane_following/lane_following_module.hpp	`0.00% <ø> (ø)`
...nner/include/behavior_path_planner/utils/utils.hpp	`100.00% <ø> (ø)`
...ne_module/lane_following/lane_following_module.cpp	`0.00% <0.00%> (ø)`
planning/behavior_path_planner/src/utils/utils.cpp	`9.78% <0.00%> (-0.34%)`	⬇️

... and 1 file with indirect coverage changes

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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

kosuke55

LGTM

… process (autowarefoundation#3398) * feat(utils): add new function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(behavior_path_planner): use utils function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* add planning_interface_test_manager class Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add counter function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param in default_motion_velocity_smoother,param.yaml Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * successfully launch target node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * successfully build the test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test for test_motion_velocity_smoother Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add abnormal trajectory test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary part Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * style(pre-commit): autofix * run pre-commit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add declaration Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Refactor callback functions for standardization Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refacotoring Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactored Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Refactor functions into a single template function Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * style(pre-commit): autofix * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * relete unnecessary definition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Revert "delete unnecessary definition" This reverts commit 6cd13f8. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary definition Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete module dependent part Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary arg Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply motion_velocity_smoother change Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for obstacle stop planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * run pre-commit Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test fot obstacle_cruise_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test fot planning_vaildator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for freespace_planner_node Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for obstacle_stop_planner with slow down Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add part of interface test for freespace Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * change package name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * apply change of package name Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix build error Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp commit for debug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add planning interface test manager for scenario selector Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update parameter Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp for behavior_path_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param file Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test free space planner module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update map Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add test for behavior path planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass freespace test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass freespace test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update map Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update map detection area Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add no stopping area Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * for print debug Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param file Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor(behavior_path_planner): remove unnecessary functions (#3271) * refactor(behavior_path_planner): remove unnecessary functions Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> --------- Signed-off-by: yutaka <purewater0901@gmail.com> * Revert "temp" This reverts commit b82805e. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * suppress build error (-Werror=pedantic) Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add interface test for behavior_velocity_planner * build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * pass test Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * build success Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete param file Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Resolve differences outside of parameter files Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update test manager Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update test manager Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * upload cloud map Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * fix typo Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor utils Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor utils Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor test_manager Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * temp Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test for obstacle cruise planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify test for obstacle_stop_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * revert parameter change Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add obstacle_avoidance_planner Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Revert "add obstacle_avoidance_planner" This reverts commit efb5d50. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add planning_validator Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * add rosidl_default_generators in CMake Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * Revert "add rosidl_default_generators in CMake" This reverts commit 7f87b0a. Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * delete unnecessary files Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * refactor(behavior_velocity_planner::intersection): organize param intersection (#3409) * reorganize intersection param for readability Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * reorganized PlannerParam Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> --------- Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * refactor(lane_following): remove duplicated reference path generation process (#3398) * feat(utils): add new function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(behavior_path_planner): use utils function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(planning_test_utils): fix build error (#3410) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(pointcloud_preprocessor): fix broken logic (#3122) `if (a && b, c)` is the same as `if (c)` not `if (a && b && c)` !! Signed-off-by: Vincent Richard <vincent.francois.richard@gmail.com> * refactor(crop_box_filter): remove always true condition (#3245) * refactor(crop_box_filter): remove always true condition tf_input_frame_ can't be empty in crop box filter. Signed-off-by: Vincent Richard <richard-v@macnica.co.jp> * style(pre-commit): autofix --------- Signed-off-by: Vincent Richard <richard-v@macnica.co.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(pointcloud_preprocessor): add data layout check utils (#3306) * feat(pointcloud_preprocessor): add data layout check utils When input cloud data layout is compatible filters can copy data faster. Signed-off-by: Vincent Richard <richard-v@macnica.co.jp> * style(pre-commit): autofix * add "name" field check cleaning Signed-off-by: Vincent Richard <richard-v@macnica.co.jp> --------- Signed-off-by: Vincent Richard <richard-v@macnica.co.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * update cmake minimum version Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Vincent Richard <vincent.francois.richard@gmail.com> Signed-off-by: Vincent Richard <richard-v@macnica.co.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Vincent Richard <vincent.francois.richard@gmail.com>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Apr 14, 2023

feat(utils): add new function

a260145

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota force-pushed the refactor/remove-duplicate-process branch from 52f0bed to fa21b8f Compare April 14, 2023 00:11

satoshi-ota changed the title ~~refactor(lane_following): remove duplicate process~~ refactor(lane_following): remove duplicated reference path generation process Apr 14, 2023

refactor(behavior_path_planner): use utils function

72c3a1d

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

satoshi-ota force-pushed the refactor/remove-duplicate-process branch from fa21b8f to 72c3a1d Compare April 14, 2023 03:52

satoshi-ota marked this pull request as ready for review April 14, 2023 07:47

satoshi-ota requested review from rej55, kosuke55, kyoichi-sugahara, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901, zulfaqar-azmi-t4 and a team as code owners April 14, 2023 07:47

kosuke55 approved these changes Apr 14, 2023

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satoshi-ota merged commit 007bfde into autowarefoundation:main Apr 14, 2023

satoshi-ota deleted the refactor/remove-duplicate-process branch April 14, 2023 08:10

tier4-autoware-public-bot bot mentioned this pull request Apr 15, 2023

chore: sync upstream tier4/autoware.universe#362

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refactor(lane_following): remove duplicated reference path generation process #3398

refactor(lane_following): remove duplicated reference path generation process #3398

satoshi-ota commented Apr 14, 2023 •

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kosuke55 left a comment

refactor(lane_following): remove duplicated reference path generation process #3398

refactor(lane_following): remove duplicated reference path generation process #3398

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satoshi-ota commented Apr 14, 2023 • edited Loading

Description

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Effects on system behavior

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satoshi-ota commented Apr 14, 2023 •

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