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fix(autoware_behavior_path_start_planner_module): fix shadowVariable (autowarefoundation#7982)
* fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor: change of declaration location Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:shadowVariable Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor: namespace Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
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‎planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp

+96-104
Original file line numberDiff line numberDiff line change
@@ -31,21 +31,78 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
3131

3232
StartPlannerParameters p;
3333

34-
const std::string ns = "start_planner.";
35-
36-
p.th_arrived_distance = node->declare_parameter<double>(ns + "th_arrived_distance");
37-
p.th_stopped_velocity = node->declare_parameter<double>(ns + "th_stopped_velocity");
38-
p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
39-
p.prepare_time_before_start = node->declare_parameter<double>(ns + "prepare_time_before_start");
40-
p.th_distance_to_middle_of_the_road =
41-
node->declare_parameter<double>(ns + "th_distance_to_middle_of_the_road");
42-
p.extra_width_margin_for_rear_obstacle =
43-
node->declare_parameter<double>(ns + "extra_width_margin_for_rear_obstacle");
44-
p.collision_check_margins =
45-
node->declare_parameter<std::vector<double>>(ns + "collision_check_margins");
46-
p.collision_check_margin_from_front_object =
47-
node->declare_parameter<double>(ns + "collision_check_margin_from_front_object");
48-
p.th_moving_object_velocity = node->declare_parameter<double>(ns + "th_moving_object_velocity");
34+
{
35+
const std::string ns = "start_planner.";
36+
37+
p.th_arrived_distance = node->declare_parameter<double>(ns + "th_arrived_distance");
38+
p.th_stopped_velocity = node->declare_parameter<double>(ns + "th_stopped_velocity");
39+
p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
40+
p.prepare_time_before_start = node->declare_parameter<double>(ns + "prepare_time_before_start");
41+
p.th_distance_to_middle_of_the_road =
42+
node->declare_parameter<double>(ns + "th_distance_to_middle_of_the_road");
43+
p.extra_width_margin_for_rear_obstacle =
44+
node->declare_parameter<double>(ns + "extra_width_margin_for_rear_obstacle");
45+
p.collision_check_margins =
46+
node->declare_parameter<std::vector<double>>(ns + "collision_check_margins");
47+
p.collision_check_margin_from_front_object =
48+
node->declare_parameter<double>(ns + "collision_check_margin_from_front_object");
49+
p.th_moving_object_velocity = node->declare_parameter<double>(ns + "th_moving_object_velocity");
50+
p.center_line_path_interval = node->declare_parameter<double>(ns + "center_line_path_interval");
51+
// shift pull out
52+
p.enable_shift_pull_out = node->declare_parameter<bool>(ns + "enable_shift_pull_out");
53+
p.check_shift_path_lane_departure =
54+
node->declare_parameter<bool>(ns + "check_shift_path_lane_departure");
55+
p.allow_check_shift_path_lane_departure_override =
56+
node->declare_parameter<bool>(ns + "allow_check_shift_path_lane_departure_override");
57+
p.shift_collision_check_distance_from_end =
58+
node->declare_parameter<double>(ns + "shift_collision_check_distance_from_end");
59+
p.minimum_shift_pull_out_distance =
60+
node->declare_parameter<double>(ns + "minimum_shift_pull_out_distance");
61+
p.lateral_acceleration_sampling_num =
62+
node->declare_parameter<int>(ns + "lateral_acceleration_sampling_num");
63+
p.lateral_jerk = node->declare_parameter<double>(ns + "lateral_jerk");
64+
p.maximum_lateral_acc = node->declare_parameter<double>(ns + "maximum_lateral_acc");
65+
p.minimum_lateral_acc = node->declare_parameter<double>(ns + "minimum_lateral_acc");
66+
p.maximum_curvature = node->declare_parameter<double>(ns + "maximum_curvature");
67+
p.end_pose_curvature_threshold =
68+
node->declare_parameter<double>(ns + "end_pose_curvature_threshold");
69+
p.maximum_longitudinal_deviation =
70+
node->declare_parameter<double>(ns + "maximum_longitudinal_deviation");
71+
// geometric pull out
72+
p.enable_geometric_pull_out = node->declare_parameter<bool>(ns + "enable_geometric_pull_out");
73+
p.geometric_collision_check_distance_from_end =
74+
node->declare_parameter<double>(ns + "geometric_collision_check_distance_from_end");
75+
p.divide_pull_out_path = node->declare_parameter<bool>(ns + "divide_pull_out_path");
76+
p.parallel_parking_parameters.pull_out_velocity =
77+
node->declare_parameter<double>(ns + "geometric_pull_out_velocity");
78+
p.parallel_parking_parameters.pull_out_arc_path_interval =
79+
node->declare_parameter<double>(ns + "arc_path_interval");
80+
p.parallel_parking_parameters.pull_out_lane_departure_margin =
81+
node->declare_parameter<double>(ns + "lane_departure_margin");
82+
p.lane_departure_check_expansion_margin =
83+
node->declare_parameter<double>(ns + "lane_departure_check_expansion_margin");
84+
p.parallel_parking_parameters.pull_out_max_steer_angle =
85+
node->declare_parameter<double>(ns + "pull_out_max_steer_angle"); // 15deg
86+
p.parallel_parking_parameters.center_line_path_interval =
87+
p.center_line_path_interval; // for geometric parallel parking
88+
// search start pose backward
89+
p.search_priority = node->declare_parameter<std::string>(
90+
ns + "search_priority"); // "efficient_path" or "short_back_distance"
91+
p.enable_back = node->declare_parameter<bool>(ns + "enable_back");
92+
p.backward_velocity = node->declare_parameter<double>(ns + "backward_velocity");
93+
p.max_back_distance = node->declare_parameter<double>(ns + "max_back_distance");
94+
p.backward_search_resolution =
95+
node->declare_parameter<double>(ns + "backward_search_resolution");
96+
p.backward_path_update_duration =
97+
node->declare_parameter<double>(ns + "backward_path_update_duration");
98+
p.ignore_distance_from_lane_end =
99+
node->declare_parameter<double>(ns + "ignore_distance_from_lane_end");
100+
// stop condition
101+
p.maximum_deceleration_for_stop =
102+
node->declare_parameter<double>(ns + "stop_condition.maximum_deceleration_for_stop");
103+
p.maximum_jerk_for_stop =
104+
node->declare_parameter<double>(ns + "stop_condition.maximum_jerk_for_stop");
105+
}
49106
{
50107
const std::string ns = "start_planner.object_types_to_check_for_path_generation.";
51108
p.object_types_to_check_for_path_generation.check_car =
@@ -65,55 +122,6 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
65122
p.object_types_to_check_for_path_generation.check_pedestrian =
66123
node->declare_parameter<bool>(ns + "check_pedestrian");
67124
}
68-
p.center_line_path_interval = node->declare_parameter<double>(ns + "center_line_path_interval");
69-
// shift pull out
70-
p.enable_shift_pull_out = node->declare_parameter<bool>(ns + "enable_shift_pull_out");
71-
p.check_shift_path_lane_departure =
72-
node->declare_parameter<bool>(ns + "check_shift_path_lane_departure");
73-
p.allow_check_shift_path_lane_departure_override =
74-
node->declare_parameter<bool>(ns + "allow_check_shift_path_lane_departure_override");
75-
p.shift_collision_check_distance_from_end =
76-
node->declare_parameter<double>(ns + "shift_collision_check_distance_from_end");
77-
p.minimum_shift_pull_out_distance =
78-
node->declare_parameter<double>(ns + "minimum_shift_pull_out_distance");
79-
p.lateral_acceleration_sampling_num =
80-
node->declare_parameter<int>(ns + "lateral_acceleration_sampling_num");
81-
p.lateral_jerk = node->declare_parameter<double>(ns + "lateral_jerk");
82-
p.maximum_lateral_acc = node->declare_parameter<double>(ns + "maximum_lateral_acc");
83-
p.minimum_lateral_acc = node->declare_parameter<double>(ns + "minimum_lateral_acc");
84-
p.maximum_curvature = node->declare_parameter<double>(ns + "maximum_curvature");
85-
p.end_pose_curvature_threshold =
86-
node->declare_parameter<double>(ns + "end_pose_curvature_threshold");
87-
p.maximum_longitudinal_deviation =
88-
node->declare_parameter<double>(ns + "maximum_longitudinal_deviation");
89-
// geometric pull out
90-
p.enable_geometric_pull_out = node->declare_parameter<bool>(ns + "enable_geometric_pull_out");
91-
p.geometric_collision_check_distance_from_end =
92-
node->declare_parameter<double>(ns + "geometric_collision_check_distance_from_end");
93-
p.divide_pull_out_path = node->declare_parameter<bool>(ns + "divide_pull_out_path");
94-
p.parallel_parking_parameters.pull_out_velocity =
95-
node->declare_parameter<double>(ns + "geometric_pull_out_velocity");
96-
p.parallel_parking_parameters.pull_out_arc_path_interval =
97-
node->declare_parameter<double>(ns + "arc_path_interval");
98-
p.parallel_parking_parameters.pull_out_lane_departure_margin =
99-
node->declare_parameter<double>(ns + "lane_departure_margin");
100-
p.lane_departure_check_expansion_margin =
101-
node->declare_parameter<double>(ns + "lane_departure_check_expansion_margin");
102-
p.parallel_parking_parameters.pull_out_max_steer_angle =
103-
node->declare_parameter<double>(ns + "pull_out_max_steer_angle"); // 15deg
104-
p.parallel_parking_parameters.center_line_path_interval =
105-
p.center_line_path_interval; // for geometric parallel parking
106-
// search start pose backward
107-
p.search_priority = node->declare_parameter<std::string>(
108-
ns + "search_priority"); // "efficient_path" or "short_back_distance"
109-
p.enable_back = node->declare_parameter<bool>(ns + "enable_back");
110-
p.backward_velocity = node->declare_parameter<double>(ns + "backward_velocity");
111-
p.max_back_distance = node->declare_parameter<double>(ns + "max_back_distance");
112-
p.backward_search_resolution = node->declare_parameter<double>(ns + "backward_search_resolution");
113-
p.backward_path_update_duration =
114-
node->declare_parameter<double>(ns + "backward_path_update_duration");
115-
p.ignore_distance_from_lane_end =
116-
node->declare_parameter<double>(ns + "ignore_distance_from_lane_end");
117125
// freespace planner general params
118126
{
119127
const std::string ns = "start_planner.freespace_planner.";
@@ -184,19 +192,10 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
184192
p.rrt_star_parameters.margin = node->declare_parameter<double>(ns + "margin");
185193
}
186194

187-
// stop condition
188-
{
189-
p.maximum_deceleration_for_stop =
190-
node->declare_parameter<double>(ns + "stop_condition.maximum_deceleration_for_stop");
191-
p.maximum_jerk_for_stop =
192-
node->declare_parameter<double>(ns + "stop_condition.maximum_jerk_for_stop");
193-
}
194-
195195
const std::string base_ns = "start_planner.path_safety_check.";
196-
197196
// EgoPredictedPath
198-
const std::string ego_path_ns = base_ns + "ego_predicted_path.";
199197
{
198+
const std::string ego_path_ns = base_ns + "ego_predicted_path.";
200199
p.ego_predicted_path_params.min_velocity =
201200
node->declare_parameter<double>(ego_path_ns + "min_velocity");
202201
p.ego_predicted_path_params.acceleration =
@@ -210,7 +209,6 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
210209
p.ego_predicted_path_params.delay_until_departure =
211210
node->declare_parameter<double>(ego_path_ns + "delay_until_departure");
212211
}
213-
214212
// ObjectFilteringParams
215213
const std::string obj_filter_ns = base_ns + "target_filtering.";
216214
{
@@ -235,10 +233,9 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
235233
p.objects_filtering_params.use_predicted_path_outside_lanelet =
236234
node->declare_parameter<bool>(obj_filter_ns + "use_predicted_path_outside_lanelet");
237235
}
238-
239236
// ObjectTypesToCheck
240-
const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
241237
{
238+
const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
242239
p.objects_filtering_params.object_types_to_check.check_car =
243240
node->declare_parameter<bool>(obj_types_ns + "check_car");
244241
p.objects_filtering_params.object_types_to_check.check_truck =
@@ -256,10 +253,9 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
256253
p.objects_filtering_params.object_types_to_check.check_pedestrian =
257254
node->declare_parameter<bool>(obj_types_ns + "check_pedestrian");
258255
}
259-
260256
// ObjectLaneConfiguration
261-
const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
262257
{
258+
const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
263259
p.objects_filtering_params.object_lane_configuration.check_current_lane =
264260
node->declare_parameter<bool>(obj_lane_ns + "check_current_lane");
265261
p.objects_filtering_params.object_lane_configuration.check_right_lane =
@@ -271,7 +267,6 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
271267
p.objects_filtering_params.object_lane_configuration.check_other_lane =
272268
node->declare_parameter<bool>(obj_lane_ns + "check_other_lane");
273269
}
274-
275270
// SafetyCheckParams
276271
const std::string safety_check_ns = base_ns + "safety_check_params.";
277272
{
@@ -288,10 +283,9 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
288283
p.safety_check_params.collision_check_yaw_diff_threshold =
289284
node->declare_parameter<double>(safety_check_ns + "collision_check_yaw_diff_threshold");
290285
}
291-
292286
// RSSparams
293-
const std::string rss_ns = safety_check_ns + "rss_params.";
294287
{
288+
const std::string rss_ns = safety_check_ns + "rss_params.";
295289
p.safety_check_params.rss_params.rear_vehicle_reaction_time =
296290
node->declare_parameter<double>(rss_ns + "rear_vehicle_reaction_time");
297291
p.safety_check_params.rss_params.rear_vehicle_safety_time_margin =
@@ -305,17 +299,17 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
305299
p.safety_check_params.rss_params.extended_polygon_policy =
306300
node->declare_parameter<std::string>(rss_ns + "extended_polygon_policy");
307301
}
308-
309302
// surround moving obstacle check
310-
std::string surround_moving_obstacle_check_ns = ns + "surround_moving_obstacle_check.";
311303
{
304+
const std::string surround_moving_obstacle_check_ns =
305+
"start_planner.surround_moving_obstacle_check.";
312306
p.search_radius =
313307
node->declare_parameter<double>(surround_moving_obstacle_check_ns + "search_radius");
314308
p.th_moving_obstacle_velocity = node->declare_parameter<double>(
315309
surround_moving_obstacle_check_ns + "th_moving_obstacle_velocity");
316310
// ObjectTypesToCheck
317-
std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
318311
{
312+
const std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
319313
p.surround_moving_obstacles_type_to_check.check_car =
320314
node->declare_parameter<bool>(obj_types_ns + "check_car");
321315
p.surround_moving_obstacles_type_to_check.check_truck =
@@ -336,8 +330,8 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
336330
}
337331

338332
// debug
339-
std::string debug_ns = ns + "debug.";
340333
{
334+
const std::string debug_ns = "start_planner.debug.";
341335
p.print_debug_info = node->declare_parameter<bool>(debug_ns + "print_debug_info");
342336
}
343337

@@ -361,9 +355,8 @@ void StartPlannerModuleManager::updateModuleParams(
361355

362356
auto & p = parameters_;
363357

364-
const std::string ns = "start_planner.";
365-
366358
{
359+
const std::string ns = "start_planner.";
367360
updateParam<double>(parameters, ns + "th_arrived_distance", p->th_arrived_distance);
368361
updateParam<double>(parameters, ns + "th_stopped_velocity", p->th_stopped_velocity);
369362
updateParam<double>(parameters, ns + "th_stopped_time", p->th_stopped_time);
@@ -458,6 +451,11 @@ void StartPlannerModuleManager::updateModuleParams(
458451
parameters, ns + "backward_path_update_duration", p->backward_path_update_duration);
459452
updateParam<double>(
460453
parameters, ns + "ignore_distance_from_lane_end", p->ignore_distance_from_lane_end);
454+
updateParam<double>(
455+
parameters, ns + "stop_condition.maximum_deceleration_for_stop",
456+
p->maximum_deceleration_for_stop);
457+
updateParam<double>(
458+
parameters, ns + "stop_condition.maximum_jerk_for_stop", p->maximum_jerk_for_stop);
461459
}
462460
{
463461
const std::string ns = "start_planner.freespace_planner.";
@@ -525,6 +523,7 @@ void StartPlannerModuleManager::updateModuleParams(
525523
updateParam<double>(
526524
parameters, ns + "distance_heuristic_weight", p->astar_parameters.distance_heuristic_weight);
527525
}
526+
528527
{
529528
const std::string ns = "start_planner.freespace_planner.rrtstar.";
530529

@@ -537,14 +536,6 @@ void StartPlannerModuleManager::updateModuleParams(
537536
updateParam<double>(parameters, ns + "margin", p->rrt_star_parameters.margin);
538537
}
539538

540-
{
541-
updateParam<double>(
542-
parameters, ns + "stop_condition.maximum_deceleration_for_stop",
543-
p->maximum_deceleration_for_stop);
544-
updateParam<double>(
545-
parameters, ns + "stop_condition.maximum_jerk_for_stop", p->maximum_jerk_for_stop);
546-
}
547-
548539
const std::string base_ns = "start_planner.path_safety_check.";
549540
const std::string ego_path_ns = base_ns + "ego_predicted_path.";
550541

@@ -567,7 +558,6 @@ void StartPlannerModuleManager::updateModuleParams(
567558
}
568559

569560
const std::string obj_filter_ns = base_ns + "target_filtering.";
570-
571561
{
572562
updateParam<double>(
573563
parameters, obj_filter_ns + "safety_check_time_horizon",
@@ -601,9 +591,8 @@ void StartPlannerModuleManager::updateModuleParams(
601591
p->objects_filtering_params.use_predicted_path_outside_lanelet);
602592
}
603593

604-
const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
605-
606594
{
595+
const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
607596
updateParam<bool>(
608597
parameters, obj_types_ns + "check_car",
609598
p->objects_filtering_params.object_types_to_check.check_car);
@@ -629,8 +618,8 @@ void StartPlannerModuleManager::updateModuleParams(
629618
parameters, obj_types_ns + "check_pedestrian",
630619
p->objects_filtering_params.object_types_to_check.check_pedestrian);
631620
}
632-
const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
633621

622+
const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
634623
{
635624
updateParam<bool>(
636625
parameters, obj_lane_ns + "check_current_lane",
@@ -648,6 +637,7 @@ void StartPlannerModuleManager::updateModuleParams(
648637
parameters, obj_lane_ns + "check_other_lane",
649638
p->objects_filtering_params.object_lane_configuration.check_other_lane);
650639
}
640+
651641
const std::string safety_check_ns = base_ns + "safety_check_params.";
652642
{
653643
updateParam<bool>(
@@ -669,8 +659,9 @@ void StartPlannerModuleManager::updateModuleParams(
669659
parameters, safety_check_ns + "collision_check_yaw_diff_threshold",
670660
p->safety_check_params.collision_check_yaw_diff_threshold);
671661
}
672-
const std::string rss_ns = safety_check_ns + "rss_params.";
662+
673663
{
664+
const std::string rss_ns = safety_check_ns + "rss_params.";
674665
updateParam<double>(
675666
parameters, rss_ns + "rear_vehicle_reaction_time",
676667
p->safety_check_params.rss_params.rear_vehicle_reaction_time);
@@ -690,17 +681,18 @@ void StartPlannerModuleManager::updateModuleParams(
690681
parameters, rss_ns + "extended_polygon_policy",
691682
p->safety_check_params.rss_params.extended_polygon_policy);
692683
}
693-
std::string surround_moving_obstacle_check_ns = ns + "surround_moving_obstacle_check.";
694684
{
685+
const std::string surround_moving_obstacle_check_ns =
686+
"start_planner.surround_moving_obstacle_check.";
695687
updateParam<double>(
696688
parameters, surround_moving_obstacle_check_ns + "search_radius", p->search_radius);
697689
updateParam<double>(
698690
parameters, surround_moving_obstacle_check_ns + "th_moving_obstacle_velocity",
699691
p->th_moving_obstacle_velocity);
700692

701693
// ObjectTypesToCheck
702-
std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
703694
{
695+
std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
704696
updateParam<bool>(
705697
parameters, obj_types_ns + "check_car",
706698
p->surround_moving_obstacles_type_to_check.check_car);
@@ -728,8 +720,8 @@ void StartPlannerModuleManager::updateModuleParams(
728720
}
729721
}
730722

731-
std::string debug_ns = ns + "debug.";
732723
{
724+
const std::string debug_ns = "start_planner.debug.";
733725
updateParam<bool>(parameters, debug_ns + "print_debug_info", p->print_debug_info);
734726
}
735727

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