feat(route_handler): add preferred lane getter function (#6496)

satoshi-ota · web-flow · commit 35f48da4ef2d · 2024-02-27T05:10:32.000Z
feat(route_handler): add getter

Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp
@@ -327,6 +327,7 @@ class RouteHandler
   lanelet::ConstLanelets getShoulderLanelets() const;
   bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const;
   bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const;
+  lanelet::ConstLanelets getPreferredLanelets() const;
 
   // for path
   PathWithLaneId getCenterLinePath(
diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp
@@ -433,6 +433,11 @@ lanelet::ConstLanelets RouteHandler::getRouteLanelets() const
   return route_lanelets_;
 }
 
+lanelet::ConstLanelets RouteHandler::getPreferredLanelets() const
+{
+  return preferred_lanelets_;
+}
+
 Pose RouteHandler::getStartPose() const
 {
   if (!route_ptr_) {

Original file line number	Diff line number	Diff line change
`@@ -433,6 +433,11 @@ lanelet::ConstLanelets RouteHandler::getRouteLanelets() const`
`433`	`433`	`return route_lanelets_;`
`434`	`434`	`}`
`435`	`435`
	`436`	`+lanelet::ConstLanelets RouteHandler::getPreferredLanelets() const`
	`437`	`+{`
	`438`	`+ return preferred_lanelets_;`
	`439`	`+}`
	`440`	`+`
`436`	`441`	`Pose RouteHandler::getStartPose() const`
`437`	`442`	`{`
`438`	`443`	`if (!route_ptr_) {`