feat(dynamic_obstacle_avoidace, side_shift, sampling_planner): use planning factor (#1729)

satoshi-ota · soblin · commit 7ff30851a98b · 2025-01-15T20:05:45.000+09:00
* feat(dynamic_obstacle_avoidance): use planning factor

Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;

* feat(sampling_planner): use planning factor

Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;

* feat(side_shift): use planning factor

Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;

---------

Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp
@@ -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_, planning_factor_interface_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
@@ -351,7 +351,8 @@ 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,
+    const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);
 
   void updateModuleParams(const std::any & parameters) override
   {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
@@ -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,
+  const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface},  // NOLINT
   parameters_{std::move(parameters)},
   target_objects_manager_{TargetObjectsManager(
     parameters_->successive_num_to_entry_dynamic_avoidance_condition,
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp
@@ -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_, planning_factor_interface_);
   }
 
   void updateModuleParams(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
@@ -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,
+    const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
@@ -42,8 +42,9 @@ 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,
+  const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface},  // NOLINT
   vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}
 {
   internal_params_ = std::make_shared<SamplingPlannerInternalParameters>();
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp
@@ -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_, planning_factor_interface_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp
@@ -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,
+    const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
@@ -42,8 +42,9 @@ 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,
+  const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface},  // NOLINT
   parameters_{parameters}
 {
 }

Original file line number	Diff line number	Diff line change
`@@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface`
`42`	`42`	`{`
`43`	`43`	`return std::make_unique<DynamicObstacleAvoidanceModule>(`
`44`	`44`	`name_, *node_, parameters_, rtc_interface_ptr_map_,`
`45`		`- objects_of_interest_marker_interface_ptr_map_);`
	`45`	`+ objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);`
`46`	`46`	`}`
`47`	`47`
`48`	`48`	`void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;`
Original file line number	Diff line number	Diff line change
`@@ -351,7 +351,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface`
`351`	`351`	`std::shared_ptr<DynamicAvoidanceParameters> parameters,`
`352`	`352`	`const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,`
`353`	`353`	`std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &`
`354`		`- objects_of_interest_marker_interface_ptr_map);`
	`354`	`+ objects_of_interest_marker_interface_ptr_map,`
	`355`	`+ const std::shared_ptr<PlanningFactorInterface> planning_factor_interface);`
`355`	`356`
`356`	`357`	`void updateModuleParams(const std::any & parameters) override`
`357`	`358`	`{`
Original file line number	Diff line number	Diff line change
`@@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface`
`38`	`38`	`{`
`39`	`39`	`return std::make_unique<SamplingPlannerModule>(`
`40`	`40`	`name_, *node_, parameters_, rtc_interface_ptr_map_,`
`41`		`- objects_of_interest_marker_interface_ptr_map_);`
	`41`	`+ objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);`
`42`	`42`	`}`
`43`	`43`
`44`	`44`	`void updateModuleParams(`
Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface`
`39`	`39`	`{`
`40`	`40`	`return std::make_unique<SideShiftModule>(`
`41`	`41`	`name_, *node_, parameters_, rtc_interface_ptr_map_,`
`42`		`- objects_of_interest_marker_interface_ptr_map_);`
	`42`	`+ objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);`
`43`	`43`	`}`
`44`	`44`
`45`	`45`	`void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;`
Original file line number	Diff line number	Diff line change
`@@ -42,8 +42,9 @@ SideShiftModule::SideShiftModule(`
`42`	`42`	`const std::shared_ptr<SideShiftParameters> & parameters,`
`43`	`43`	`const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,`
`44`	`44`	`std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &`
`45`		`- objects_of_interest_marker_interface_ptr_map)`
`46`		`-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT`
	`45`	`+ objects_of_interest_marker_interface_ptr_map,`
	`46`	`+ const std::shared_ptr<PlanningFactorInterface> planning_factor_interface)`
	`47`	`+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface}, // NOLINT`
`47`	`48`	`parameters_{parameters}`
`48`	`49`	`{`
`49`	`50`	`}`