refactor(blind_spot): find first_conflicting_lane just as intersection module

[soblin]

Description

find the first_conflicting_lanelet in the same way as intersection module

Related links

autowarefoundation/autoware_launch#873

https://tier4.atlassian.net/browse/RT1-5048

https://tier4.atlassian.net/browse/RT1-4216

Tests performed

https://evaluation.tier4.jp/evaluation/reports/d4841d57-9c9e-5027-80d8-0d444a6d8fb5?project_id=prd_jt

on a single lane

RT1-5048-2024-02-14_18.08.09.mp4

for adjacent lane

RT1-5048-2024-02-14_16.58.15.mp4

for opposite adjacent lane

RT1-5048-2024-02-14_17.05.39.mp4

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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Summary by CodeRabbit

• Refactor: Introduced a new InterpolatedPathInfo struct to wrap an interpolated path with lane ID information.
• Refactor: Initialized turn_direction_, is_over_pass_judge_line_, and first_conflicting_lanelet_ using brace initialization syntax.
• Refactor: Added several private member functions (generateInterpolatedPathInfo(), getFirstConflictingLanelet(), getFirstPointConflictingLanelets(), and generateStopLine()).
• Refactor: Removed the getVehicleEdge() function.
• Refactor: Refactored the logic for generating a stop line and inserting it into the path.
• Refactor: Removed the getStraightLanelets() function.

These changes improve the code structure, enhance functionality related to interpolated paths and lane information, and remove unnecessary functions. There are no direct user-facing impacts, but these changes contribute to overall code quality and maintainability.

[codecov]

Codecov Report

Attention: 114 lines in your changes are missing coverage. Please review.

Comparison is base (81605c1) 14.88% compared to head (82c28ac) 14.88%.
Report is 50 commits behind head on main.

Files	Patch %	Lines
.../behavior_velocity_blind_spot_module/src/scene.cpp	0.00%	113 Missing ⚠️
.../behavior_velocity_blind_spot_module/src/scene.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6405      +/-   ##
==========================================
- Coverage   14.88%   14.88%   -0.01%     
==========================================
  Files        1838     1839       +1     
  Lines      126460   126481      +21     
  Branches    37962    37970       +8     
==========================================
  Hits        18826    18826              
- Misses      86412    86433      +21     
  Partials    21222    21222              

Flag	Coverage Δ		*Carryforward flag
differential	13.23% <0.00%> (?)
total	14.89% <ø> (+0.01%)	⬆️	Carriedforward from 81605c1

*This pull request uses carry forward flags. Click here to find out more.

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[github-actions]

CodeRabbit

Walkthrough

The changes introduce several updates to the BlindSpotModule class in the scene.hpp file. These include the addition of a new struct, initialization using brace syntax for member variables, the introduction of private member functions, removal of a function, refactoring of logic for generating a stop line and inserting it into the path, and removal of another function.

Changes

File	Summary
planning/behavior_velocity_blind_spot_module/src/scene.hpp	The diff introduces several changes to the BlindSpotModule class. It adds a new struct InterpolatedPathInfo, initializes certain member variables using brace initialization syntax, adds private member functions, removes a function, refactors the logic for generating a stop line and inserting it into the path, and removes another function.

"Hopping through the code, changes abound,
BlindSpotModule transformed, a joy profound.
Structs and functions, initialized with care,
Logic refactored, complexity laid bare.
A rabbit's touch, improving day by day,
Code quality enhanced, in every way."

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[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 78eea31 and 82c28ac commits.

Files selected (2)

• planning/behavior_velocity_blind_spot_module/src/scene.cpp (8)
• planning/behavior_velocity_blind_spot_module/src/scene.hpp (4)

Files not summarized due to errors (1)

• planning/behavior_velocity_blind_spot_module/src/scene.cpp (diff tokens exceeds limit)

Review comments generated (11)

• Review: 11
• LGTM: 0

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[shmpwk]

LGTM