use the double type instead of the structure

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

Author: HansOersted

control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp

@@ -84,19 +84,14 @@ struct Input
   std::vector<std::string> boundary_types_to_detect{};
 };
 
-struct DerivativeDeviation
-{
-  double longitudinal_vel{0.0};
-};
-
 struct Output
 {
   std::map<std::string, double> processing_time_map{};
   bool will_leave_lane{};
   bool is_out_of_lane{};
   bool will_cross_boundary{};
   PoseDeviation trajectory_deviation{};
-  DerivativeDeviation trajectory_der_deviation{};
+  double deviation_longitudinal_vel{0.0};
   lanelet::ConstLanelets candidate_lanelets{};
   TrajectoryPoints resampled_trajectory{};
   std::vector<LinearRing2d> vehicle_footprints{};
@@ -144,7 +139,7 @@ class LaneDepartureChecker
   Param param_;
   std::shared_ptr<vehicle_info_util::VehicleInfo> vehicle_info_ptr_;
 
-  static DerivativeDeviation calcLongitudinalDeviationDerivatives(
+  static double calcLongitudinalDeviationDerivatives(
     const Trajectory & trajectory, const double dist_threshold, const double yaw_threshold,
     const Input & input);
 

control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp

@@ -104,7 +104,7 @@ Output LaneDepartureChecker::update(const Input & input)
 
   tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
 
-  output.trajectory_der_deviation = calcLongitudinalDeviationDerivatives(
+  output.deviation_longitudinal_vel = calcLongitudinalDeviationDerivatives(
     *input.predicted_trajectory, param_.ego_nearest_dist_threshold,
     param_.ego_nearest_yaw_threshold, input);
 
@@ -169,21 +169,21 @@ bool LaneDepartureChecker::checkPathWillLeaveLane(
   return willLeaveLane(candidate_lanelets, vehicle_footprints);
 }
 
-DerivativeDeviation LaneDepartureChecker::calcLongitudinalDeviationDerivatives(
+double LaneDepartureChecker::calcLongitudinalDeviationDerivatives(
   const Trajectory & trajectory, const double dist_threshold, const double yaw_threshold,
   const Input & input)
 {
   const geometry_msgs::msg::Pose & pose = input.current_odom->pose.pose;
   const auto nearest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints(
     trajectory.points, pose, dist_threshold, yaw_threshold);
-  DerivativeDeviation der_deviation;
+  double deviation_longitudinal_vel;
   const auto & ref_point = trajectory.points.at(nearest_idx);
 
   const auto current_vel = input.current_odom->twist.twist.linear.x;
   const auto & ref_vel = ref_point.longitudinal_velocity_mps;
-  der_deviation.longitudinal_vel = current_vel - ref_vel;
+  deviation_longitudinal_vel = current_vel - ref_vel;
 
-  return der_deviation;
+  return deviation_longitudinal_vel;
 }
 
 PoseDeviation LaneDepartureChecker::calcTrajectoryDeviation(

control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp

@@ -358,7 +358,7 @@ void LaneDepartureCheckerNode::onTimer()
 
   {
     const auto & deviation = output_.trajectory_deviation;
-    const auto & der_deviation = output_.trajectory_der_deviation;
+    const double deviation_vel_longitudinal = output_.deviation_longitudinal_vel;
     debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
       "deviation/lateral", deviation.lateral);
     debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>("deviation/yaw", deviation.yaw);
@@ -367,7 +367,7 @@ void LaneDepartureCheckerNode::onTimer()
     debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
       "deviation/longitudinal", deviation.longitudinal);
     debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
-      "deviation/longitudinal_velocity", der_deviation.longitudinal_vel);
+      "deviation/longitudinal_velocity", deviation_vel_longitudinal);
   }
   processing_time_map["Node: publishTrajectoryDeviation"] = stop_watch.toc(true);