refactor(lane_change): add const to lane change functions (#6175)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

Author: rej55

planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp

@@ -55,7 +55,7 @@ class NormalLaneChange : public LaneChangeBase
 
   BehaviorModuleOutput generateOutput() override;
 
-  void extendOutputDrivableArea(BehaviorModuleOutput & output) override;
+  void extendOutputDrivableArea(BehaviorModuleOutput & output) const override;
 
   void insertStopPoint(const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) override;
 
@@ -65,7 +65,7 @@ class NormalLaneChange : public LaneChangeBase
 
   void resetParameters() override;
 
-  TurnSignalInfo updateOutputTurnSignal() override;
+  TurnSignalInfo updateOutputTurnSignal() const override;
 
   bool calcAbortPath() override;
 
@@ -141,7 +141,7 @@ class NormalLaneChange : public LaneChangeBase
     const utils::path_safety_checker::RSSparams rss_params, const bool is_stuck,
     const bool check_safety = true) const override;
 
-  TurnSignalInfo calcTurnSignalInfo() override;
+  TurnSignalInfo calcTurnSignalInfo() const override;
 
   bool isValidPath(const PathWithLaneId & path) const override;
 

planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp

@@ -66,15 +66,15 @@ class LaneChangeBase
 
   virtual BehaviorModuleOutput generateOutput() = 0;
 
-  virtual void extendOutputDrivableArea(BehaviorModuleOutput & output) = 0;
+  virtual void extendOutputDrivableArea(BehaviorModuleOutput & output) const = 0;
 
   virtual PathWithLaneId getReferencePath() const = 0;
 
   virtual std::optional<PathWithLaneId> extendPath() = 0;
 
   virtual void resetParameters() = 0;
 
-  virtual TurnSignalInfo updateOutputTurnSignal() = 0;
+  virtual TurnSignalInfo updateOutputTurnSignal() const = 0;
 
   virtual bool hasFinishedLaneChange() const = 0;
 
@@ -225,7 +225,7 @@ class LaneChangeBase
     LaneChangePaths * candidate_paths, const utils::path_safety_checker::RSSparams rss_params,
     const bool is_stuck, const bool check_safety) const = 0;
 
-  virtual TurnSignalInfo calcTurnSignalInfo() = 0;
+  virtual TurnSignalInfo calcTurnSignalInfo() const = 0;
 
   virtual bool isValidPath(const PathWithLaneId & path) const = 0;
 

planning/behavior_path_lane_change_module/src/scene.cpp

@@ -183,7 +183,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
   return output;
 }
 
-void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output)
+void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) const
 {
   const auto & dp = planner_data_->drivable_area_expansion_parameters;
 
@@ -431,7 +431,7 @@ void NormalLaneChange::resetParameters()
   RCLCPP_DEBUG(logger_, "reset all flags and debug information.");
 }
 
-TurnSignalInfo NormalLaneChange::updateOutputTurnSignal()
+TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() const
 {
   TurnSignalInfo turn_signal_info = calcTurnSignalInfo();
   const auto [turn_signal_command, distance_to_vehicle_front] = utils::getPathTurnSignal(
@@ -1447,7 +1447,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const
   return safety_status;
 }
 
-TurnSignalInfo NormalLaneChange::calcTurnSignalInfo()
+TurnSignalInfo NormalLaneChange::calcTurnSignalInfo() const
 {
   const auto get_blinker_pose = [](const PathWithLaneId & path, const double length) {
     double accumulated_length = 0.0;