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fix(goal_planner): invert lane boundary of neighbor opposite lanelets when generating departure check lane #10207

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Merged
merged 2 commits into from
Mar 13, 2025
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fix(goal_planner): invert lane boundary of neighbor opposite lanelets when generating departure check lane #10207

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7d50b6e
fix(goal_planner): invert lane boundary of neighbor opposite lanelets…
MertClk Mar 1, 2025
1d1b3ec
remove unnecessary loop
MertClk Mar 13, 2025
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21 changes: 13 additions & 8 deletions planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -709,33 +709,38 @@
const lanelet::ConstLanelets & pull_over_lanes, const route_handler::RouteHandler & route_handler,
const bool left_side_parking)
{
const auto getBoundPoints =
[&](const lanelet::ConstLanelet & lane, const bool is_outer) -> lanelet::Points3d {
const auto getBoundPoints = [&](

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp#L712 

Added line #L712 was not covered by tests
const lanelet::ConstLanelet & lane, const bool is_outer,
const bool invert) -> lanelet::Points3d {
lanelet::Points3d points;
const auto & bound = left_side_parking ? (is_outer ? lane.leftBound() : lane.rightBound())
: (is_outer ? lane.rightBound() : lane.leftBound());
for (const auto & pt : bound) {
const auto ego_oriented_bound = invert ? bound.invert() : bound;
for (const auto & pt : ego_oriented_bound) {
points.push_back(lanelet::Point3d(pt));
}
return points;
};

const auto getMostInnerLane = [&](const lanelet::ConstLanelet & lane) -> lanelet::ConstLanelet {
const auto getMostInnerLane =
[&](const lanelet::ConstLanelet & lane) -> std::pair<lanelet::ConstLanelet, bool> {

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp#L726 

Added line #L726 was not covered by tests
const auto getInnerLane =
left_side_parking ? &RouteHandler::getMostRightLanelet : &RouteHandler::getMostLeftLanelet;
const auto getOppositeLane = left_side_parking ? &RouteHandler::getRightOppositeLanelets
: &RouteHandler::getLeftOppositeLanelets;
const auto inner_lane = (route_handler.*getInnerLane)(lane, true, true);
const auto opposite_lanes = (route_handler.*getOppositeLane)(inner_lane);
return opposite_lanes.empty() ? inner_lane : opposite_lanes.front();
return std::make_pair(
opposite_lanes.empty() ? inner_lane : opposite_lanes.front(), !opposite_lanes.empty());
};

lanelet::Points3d outer_bound_points{};
lanelet::Points3d inner_bound_points{};
for (const auto & lane : pull_over_lanes) {
const auto current_outer_bound_points = getBoundPoints(lane, true);
const auto most_inner_lane = getMostInnerLane(lane);
const auto current_inner_bound_points = getBoundPoints(most_inner_lane, false);
const auto current_outer_bound_points = getBoundPoints(lane, true, false);
const auto most_inner_lane_info = getMostInnerLane(lane);
const auto current_inner_bound_points =
getBoundPoints(most_inner_lane_info.first, false, most_inner_lane_info.second);

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

createDepartureCheckLanelet increases in cyclomatic complexity from 11 to 12, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
outer_bound_points = combineLanePoints(outer_bound_points, current_outer_bound_points);
inner_bound_points = combineLanePoints(inner_bound_points, current_inner_bound_points);
}
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