Commit 29faba5 1 parent 0a057e1 commit 29faba5 Copy full SHA for 29faba5
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planning/behavior_path_lane_change_module
include/behavior_path_lane_change_module
3 files changed +9
-9
lines changed Original file line number Diff line number Diff line change @@ -55,7 +55,7 @@ class NormalLaneChange : public LaneChangeBase
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BehaviorModuleOutput generateOutput () override ;
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- void extendOutputDrivableArea (BehaviorModuleOutput & output) override ;
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+ void extendOutputDrivableArea (BehaviorModuleOutput & output) const override ;
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void insertStopPoint (const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) override ;
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@@ -65,7 +65,7 @@ class NormalLaneChange : public LaneChangeBase
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void resetParameters () override ;
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- TurnSignalInfo updateOutputTurnSignal () override ;
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+ TurnSignalInfo updateOutputTurnSignal () const override ;
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bool calcAbortPath () override ;
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@@ -141,7 +141,7 @@ class NormalLaneChange : public LaneChangeBase
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const utils::path_safety_checker::RSSparams rss_params, const bool is_stuck,
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const bool check_safety = true ) const override ;
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- TurnSignalInfo calcTurnSignalInfo () override ;
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+ TurnSignalInfo calcTurnSignalInfo () const override ;
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bool isValidPath (const PathWithLaneId & path) const override ;
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Original file line number Diff line number Diff line change @@ -66,15 +66,15 @@ class LaneChangeBase
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virtual BehaviorModuleOutput generateOutput () = 0;
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- virtual void extendOutputDrivableArea (BehaviorModuleOutput & output) = 0;
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+ virtual void extendOutputDrivableArea (BehaviorModuleOutput & output) const = 0;
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virtual PathWithLaneId getReferencePath () const = 0;
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virtual std::optional<PathWithLaneId> extendPath () = 0;
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virtual void resetParameters () = 0;
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- virtual TurnSignalInfo updateOutputTurnSignal () = 0;
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+ virtual TurnSignalInfo updateOutputTurnSignal () const = 0;
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virtual bool hasFinishedLaneChange () const = 0;
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@@ -225,7 +225,7 @@ class LaneChangeBase
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LaneChangePaths * candidate_paths, const utils::path_safety_checker::RSSparams rss_params,
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const bool is_stuck, const bool check_safety) const = 0;
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- virtual TurnSignalInfo calcTurnSignalInfo () = 0;
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+ virtual TurnSignalInfo calcTurnSignalInfo () const = 0;
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virtual bool isValidPath (const PathWithLaneId & path) const = 0;
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Original file line number Diff line number Diff line change @@ -183,7 +183,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
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return output;
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}
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- void NormalLaneChange::extendOutputDrivableArea (BehaviorModuleOutput & output)
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+ void NormalLaneChange::extendOutputDrivableArea (BehaviorModuleOutput & output) const
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{
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const auto & dp = planner_data_->drivable_area_expansion_parameters ;
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@@ -431,7 +431,7 @@ void NormalLaneChange::resetParameters()
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RCLCPP_DEBUG (logger_, " reset all flags and debug information." );
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}
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- TurnSignalInfo NormalLaneChange::updateOutputTurnSignal ()
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+ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal () const
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{
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TurnSignalInfo turn_signal_info = calcTurnSignalInfo ();
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const auto [turn_signal_command, distance_to_vehicle_front] = utils::getPathTurnSignal (
@@ -1447,7 +1447,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const
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return safety_status;
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}
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- TurnSignalInfo NormalLaneChange::calcTurnSignalInfo ()
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+ TurnSignalInfo NormalLaneChange::calcTurnSignalInfo () const
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{
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const auto get_blinker_pose = [](const PathWithLaneId & path, const double length) {
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double accumulated_length = 0.0 ;
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