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behavior_path_avoidance_module/include/behavior_path_avoidance_module
behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter
2 files changed +9
-3
lines changed Original file line number Diff line number Diff line change @@ -443,9 +443,6 @@ struct AvoidLine : public ShiftLine
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// Distance from ego to end point in Frenet
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double end_longitudinal = 0.0 ;
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- // for unique_id
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- UUID id{};
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-
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// for the case the point is created by merge other points
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std::vector<UUID> parent_ids{};
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Original file line number Diff line number Diff line change 17
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#include < rclcpp/clock.hpp>
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#include < rclcpp/logging.hpp>
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+ #include < tier4_autoware_utils/ros/uuid_helper.hpp>
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#include < autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
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#include < geometry_msgs/msg/point.hpp>
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+ #include < unique_identifier_msgs/msg/uuid.hpp>
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#include < optional>
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#include < string>
@@ -31,9 +33,13 @@ using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
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using autoware_auto_planning_msgs::msg::PathWithLaneId;
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using geometry_msgs::msg::Point ;
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using geometry_msgs::msg::Pose;
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+ using tier4_autoware_utils::generateUUID;
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+ using unique_identifier_msgs::msg::UUID;
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struct ShiftLine
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{
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+ ShiftLine () : id(generateUUID()) {}
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+
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Pose start{}; // shift start point in absolute coordinate
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Pose end{}; // shift start point in absolute coordinate
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@@ -45,6 +51,9 @@ struct ShiftLine
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size_t start_idx{}; // associated start-point index for the reference path
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size_t end_idx{}; // associated end-point index for the reference path
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+
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+ // for unique_id
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+ UUID id{};
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};
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using ShiftLineArray = std::vector<ShiftLine>;
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