Merge pull request #1470 from tier4/fix/snor-cloud-issue-8-1

Fix/sonor cloud issue 8-1
tier4 · Dec 12, 2024 · 7fb55a6 · 7fb55a6
2 parents 9c568e9 + 7b01a62
commit 7fb55a6
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Showing 3 changed files with 22 additions and 16 deletions.
diff --git a/common/math/geometry/src/spline/catmull_rom_spline.cpp b/common/math/geometry/src/spline/catmull_rom_spline.cpp
@@ -470,8 +470,8 @@ auto CatmullRomSpline::getSquaredDistanceIn2D(
       }
       return line_segments_[0].getSquaredDistanceIn2D(point, s, true);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getSquaredDistanceIn2D(point, index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getSquaredDistanceIn2D(point, s_value, true);
   }
 }
 
@@ -508,8 +508,8 @@ auto CatmullRomSpline::getSquaredDistanceVector(
       }
       return line_segments_[0].getSquaredDistanceVector(point, s, true);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getSquaredDistanceVector(point, index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getSquaredDistanceVector(point, s_value, true);
   }
 }
 
@@ -542,8 +542,8 @@ auto CatmullRomSpline::getPoint(const double s) const -> geometry_msgs::msg::Poi
       }
       return line_segments_[0].getPoint(s, true);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getPoint(index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getPoint(s_value, true);
   }
 }
 
@@ -597,8 +597,8 @@ auto CatmullRomSpline::getNormalVector(const double s) const -> geometry_msgs::m
         "This message is not originally intended to be displayed, if you see it, please "
         "contact the developer of traffic_simulator.");
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getNormalVector(index_and_s.second, true);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getNormalVector(s_value, true);
   }
 }
 
@@ -634,6 +634,14 @@ auto CatmullRomSpline::getTangentVector(const double s) const -> geometry_msgs::
         "This message is not originally intended to be displayed, if you see it, please "
         "contact the developer of traffic_simulator.");
     default:
+      /**
+       * @note The current implementation uses `index_and_s` instead of structured binding
+       * (`const auto [index, s_value] = getCurveIndexAndS(s)`) because some tests fail
+       * when using structured binding. The root cause of these test failures is under investigation.
+       */
+      // const auto [index, s_value] = getCurveIndexAndS(s);
+      // return curves_[index].getTangentVector(s_value, true);
+
       const auto index_and_s = getCurveIndexAndS(s);
       return curves_[index_and_s.first].getTangentVector(index_and_s.second, true);
   }
@@ -665,8 +673,8 @@ auto CatmullRomSpline::getPose(const double s, const bool fill_pitch) const
       }
       return line_segments_[0].getPose(s, true, fill_pitch);
     default:
-      const auto index_and_s = getCurveIndexAndS(s);
-      return curves_[index_and_s.first].getPose(index_and_s.second, true, fill_pitch);
+      const auto [index, s_value] = getCurveIndexAndS(s);
+      return curves_[index].getPose(s_value, true, fill_pitch);
   }
 }
 

diff --git a/...ualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp b/...ualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp
@@ -171,7 +171,6 @@ void VisualizationConditionGroupsDisplay::processMessage(const Context::ConstSha
 
   QPainter painter(&hud);
   painter.setRenderHint(QPainter::Antialiasing, true);
-  // QColor text_color = property_text_color_->getColor();
   QColor text_color(property_text_color_->getColor());
   text_color.setAlpha(255);
   painter.setPen(QPen(text_color, 2, Qt::SolidLine));

diff --git a/simulation/traffic_simulator/src/visualization/visualization_component.cpp b/simulation/traffic_simulator/src/visualization/visualization_component.cpp
@@ -74,14 +74,14 @@ void VisualizationComponent::entityStatusCallback(
     entity_name_lists.emplace_back(data.status.name);
   }
   std::vector<std::string> erase_names;
-  for (const auto & marker : markers_) {
-    auto itr = std::find(entity_name_lists.begin(), entity_name_lists.end(), marker.first);
+  for (const auto & [key, _] : markers_) {
+    auto itr = std::find(entity_name_lists.begin(), entity_name_lists.end(), key);
     if (itr == entity_name_lists.end()) {
-      auto delete_marker = generateDeleteMarker(marker.first);
+      auto delete_marker = generateDeleteMarker(key);
       std::copy(
         delete_marker.markers.begin(), delete_marker.markers.end(),
         std::back_inserter(current_marker.markers));
-      erase_names.emplace_back(marker.first);
+      erase_names.emplace_back(key);
     }
   }
   for (const auto & name : erase_names) {
@@ -336,7 +336,6 @@ const visualization_msgs::msg::MarkerArray VisualizationComponent::generateMarke
   arrow.id = 2;
   arrow.action = visualization_msgs::msg::Marker::ADD;
 
-  // constexpr double arrow_size = 0.3;
   double arrow_size = 0.4 * status.bounding_box.dimensions.y;
   constexpr double arrow_ratio = 1.0;
   geometry_msgs::msg::Point pf, pl, pr;