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refactor(path_generator): avoid using fixed-size array #353

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refactor(path_generator): avoid using fixed-size array #353

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76bc7fa
avoid using fixed-size array
mitukou1109 Mar 28, 2025
bb3edc7
include necessary headers
mitukou1109 Apr 3, 2025
406250b
Merge branch 'main' into refactor/path_generator_no_array
kosuke55 Apr 4, 2025
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18 changes: 9 additions & 9 deletions planning/autoware_path_generator/include/autoware/path_generator/utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,6 @@
#include <limits>
#include <memory>
#include <optional>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>

Expand All @@ -34,10 +32,12 @@ using autoware_internal_planning_msgs::msg::PathPointWithLaneId;
using autoware_internal_planning_msgs::msg::PathWithLaneId;
using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;

const std::unordered_map<std::string, uint8_t> turn_signal_command_map = {
{"left", TurnIndicatorsCommand::ENABLE_LEFT},
{"right", TurnIndicatorsCommand::ENABLE_RIGHT},
{"straight", TurnIndicatorsCommand::DISABLE}};
template <typename T>
struct PathRange
{
T left;
T right;
};

namespace utils
{
Expand Down Expand Up @@ -142,7 +142,7 @@ std::optional<double> get_first_self_intersection_arc_length(
* @param s_end longitudinal distance of end of bound on centerline
* @return cropped bounds (left / right)
*/
std::array<std::vector<geometry_msgs::msg::Point>, 2> get_path_bounds(
PathRange<std::vector<geometry_msgs::msg::Point>> get_path_bounds(
const lanelet::LaneletSequence & lanelet_sequence, const double s_start, const double s_end);

/**
Expand All @@ -162,7 +162,7 @@ std::vector<geometry_msgs::msg::Point> crop_line_string(
* @param s_centerline longitudinal distance of point on centerline
* @return longitudinal distance of projected point (left / right)
*/
std::array<double, 2> get_arc_length_on_bounds(
PathRange<double> get_arc_length_on_bounds(
const lanelet::LaneletSequence & lanelet_sequence, const double s_centerline);

/**
Expand All @@ -172,7 +172,7 @@ std::array<double, 2> get_arc_length_on_bounds(
* @param s_right_bound longitudinal distance of point on left bound
* @return longitudinal distance of projected point (left / right)
*/
std::array<std::optional<double>, 2> get_arc_length_on_centerline(
PathRange<std::optional<double>> get_arc_length_on_centerline(
const lanelet::LaneletSequence & lanelet_sequence, const std::optional<double> & s_left_bound,
const std::optional<double> & s_right_bound);

Expand Down
35 changes: 17 additions & 18 deletions planning/autoware_path_generator/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@
#include <algorithm>
#include <limits>
#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>

Expand All @@ -40,6 +42,11 @@ namespace utils
{
namespace
{
const std::unordered_map<std::string, uint8_t> turn_signal_command_map = {
{"left", TurnIndicatorsCommand::ENABLE_LEFT},
{"right", TurnIndicatorsCommand::ENABLE_RIGHT},
{"straight", TurnIndicatorsCommand::DISABLE}};

template <typename T>
bool exists(const std::vector<T> & vec, const T & item)
{
Expand Down Expand Up @@ -244,13 +251,11 @@ std::optional<double> get_first_intersection_arc_length(
{
std::optional<double> s_intersection{std::nullopt};

const auto s_start_bounds = get_arc_length_on_bounds(lanelet_sequence, s_start);
const double s_start_left_bound = s_start_bounds.at(0);
const double s_start_right_bound = s_start_bounds.at(1);
const auto [s_start_left_bound, s_start_right_bound] =
get_arc_length_on_bounds(lanelet_sequence, s_start);

const auto s_end_bound = get_arc_length_on_bounds(lanelet_sequence, s_end);
const double s_end_left_bound = s_end_bound.at(0);
const double s_end_right_bound = s_end_bound.at(1);
const auto [s_end_left_bound, s_end_right_bound] =
get_arc_length_on_bounds(lanelet_sequence, s_end);

const auto cropped_centerline = lanelet::utils::to2D(to_lanelet_points(crop_line_string(
to_geometry_msgs_points(
Expand Down Expand Up @@ -285,10 +290,8 @@ std::optional<double> get_first_intersection_arc_length(
return s;
}();

const auto s_bounds_on_centerline =
const auto [s_left, s_right] =
get_arc_length_on_centerline(lanelet_sequence, s_left_bound, s_right_bound);
const auto s_left = s_bounds_on_centerline.at(0);
const auto s_right = s_bounds_on_centerline.at(1);

if (s_left && s_right) {
s_intersection = std::min(s_left, s_right);
Expand All @@ -302,14 +305,12 @@ std::optional<double> get_first_intersection_arc_length(
lanelet::BasicPoints2d intersections;
boost::geometry::intersection(cropped_left_bound, cropped_right_bound, intersections);
for (const auto & intersection : intersections) {
const auto s_bounds_on_centerline = get_arc_length_on_centerline(
const auto [s_left, s_right] = get_arc_length_on_centerline(
lanelet_sequence,
s_start_left_bound +
lanelet::geometry::toArcCoordinates(cropped_left_bound, intersection).length,
s_start_right_bound +
lanelet::geometry::toArcCoordinates(cropped_right_bound, intersection).length);
const auto s_left = s_bounds_on_centerline.at(0);
const auto s_right = s_bounds_on_centerline.at(1);
const auto s_mutual = [&]() {
if (s_left && s_right) {
return std::max(s_left, s_right);
Expand Down Expand Up @@ -358,10 +359,8 @@ std::optional<double> get_first_intersection_arc_length(
return s;
}();

const auto s_bounds_on_centerline =
const auto [s_left, s_right] =
get_arc_length_on_centerline(lanelet_sequence, s_left_bound, s_right_bound);
const auto s_left = s_bounds_on_centerline.at(0);
const auto s_right = s_bounds_on_centerline.at(1);

const auto s_start_edge = [&]() {
if (s_left && s_right) {
Expand Down Expand Up @@ -427,7 +426,7 @@ std::optional<double> get_first_self_intersection_arc_length(
return std::nullopt;
}

std::array<std::vector<geometry_msgs::msg::Point>, 2> get_path_bounds(
PathRange<std::vector<geometry_msgs::msg::Point>> get_path_bounds(
const lanelet::LaneletSequence & lanelet_sequence, const double s_start, const double s_end)
{
const auto [s_left_start, s_right_start] = get_arc_length_on_bounds(lanelet_sequence, s_start);
Expand Down Expand Up @@ -455,7 +454,7 @@ std::vector<geometry_msgs::msg::Point> crop_line_string(
return trajectory->restore();
}

std::array<double, 2> get_arc_length_on_bounds(
PathRange<double> get_arc_length_on_bounds(
const lanelet::LaneletSequence & lanelet_sequence, const double s_centerline)
{
auto s = 0.;
Expand Down Expand Up @@ -487,7 +486,7 @@ std::array<double, 2> get_arc_length_on_bounds(
return {s_centerline, s_centerline};
}

std::array<std::optional<double>, 2> get_arc_length_on_centerline(
PathRange<std::optional<double>> get_arc_length_on_centerline(
const lanelet::LaneletSequence & lanelet_sequence, const std::optional<double> & s_left_bound,
const std::optional<double> & s_right_bound)
{
Expand Down
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