22.3.0
Description
Abstract
This PR contains refactoring of ActionNode with the goal of moving common and reusable functionality from this class to free functions.
Background
This PR is a part of #1479. The goal of that PR (and others) is to refactor HdMapUtils and divide it into different modules. This description provides insight in what changes are introduced in this PR. For more general overview on the background, please see the description of #1479.
Details
This PR has refactored the function ActionNode::getDistanceToConflictingEntity to be distance::distanceToNearestConflictingPose (with the addition of getOtherEntitiesCanonicalizedEntityStatuses()).
This function was a distance calculation function, not ActionNode specific. For this reason, it has been ported to distance namespace and can be used widely.
Every place where the old function was used has been adjusted to use the new function.
References
Description of #1479 and Abstract of #1472 for better overview of the changes.
Destructive Changes
Some functions have been renamed, as explained in Details, but the codebase has been adjusted.
Known Limitations
None