refactor(common, control, planning): replace boost::optional with std::optional (#5717)

* refactor(behavior_path_planner): replace boost optional with std

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>

* do it on motion utils as well.

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* up  until now

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* finally

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix all issue

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Author: zulfaqar-azmi-t4

common/motion_utils/include/motion_utils/distance/distance.hpp

@@ -15,17 +15,16 @@
 #ifndef MOTION_UTILS__DISTANCE__DISTANCE_HPP_
 #define MOTION_UTILS__DISTANCE__DISTANCE_HPP_
 
-#include <boost/optional.hpp>
-
 #include <algorithm>
 #include <cmath>
 #include <iostream>
+#include <optional>
 #include <tuple>
 #include <vector>
 
 namespace motion_utils
 {
-boost::optional<double> calcDecelDistWithJerkAndAccConstraints(
+std::optional<double> calcDecelDistWithJerkAndAccConstraints(
   const double current_vel, const double target_vel, const double current_acc, const double acc_min,
   const double jerk_acc, const double jerk_dec);
 

common/motion_utils/include/motion_utils/trajectory/interpolation.hpp

@@ -21,10 +21,9 @@
 #include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory.hpp"
 
-#include <boost/optional.hpp>
-
 #include <algorithm>
 #include <limits>
+#include <optional>
 #include <stdexcept>
 #include <vector>
 

common/motion_utils/include/motion_utils/trajectory/path_with_lane_id.hpp

@@ -18,12 +18,11 @@
 #include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
 #include <geometry_msgs/msg/point.hpp>
 
-#include <boost/optional.hpp>
-
+#include <optional>
 #include <utility>
 namespace motion_utils
 {
-boost::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
+std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
 
 size_t findNearestIndexFromLaneId(

common/motion_utils/include/motion_utils/trajectory/trajectory.hpp

@@ -91,7 +91,7 @@ std::tuple<double, double, double> update(
  * @param (t_during_min_acc) duration of constant deceleration [s]
  * @return moving distance until velocity is reached vt [m]
  */
-boost::optional<double> calcDecelDistPlanType1(
+std::optional<double> calcDecelDistPlanType1(
   const double v0, const double vt, const double a0, const double am, const double ja,
   const double jd, const double t_during_min_acc)
 {
@@ -155,7 +155,7 @@ boost::optional<double> calcDecelDistPlanType1(
  * @param (jd) minimum jerk [m/sss]
  * @return moving distance until velocity is reached vt [m]
  */
-boost::optional<double> calcDecelDistPlanType2(
+std::optional<double> calcDecelDistPlanType2(
   const double v0, const double vt, const double a0, const double ja, const double jd)
 {
   constexpr double epsilon = 1e-3;
@@ -212,7 +212,7 @@ boost::optional<double> calcDecelDistPlanType2(
  * @param (ja) maximum jerk [m/sss]
  * @return moving distance until velocity is reached vt [m]
  */
-boost::optional<double> calcDecelDistPlanType3(
+std::optional<double> calcDecelDistPlanType3(
   const double v0, const double vt, const double a0, const double ja)
 {
   constexpr double epsilon = 1e-3;
@@ -234,7 +234,7 @@ boost::optional<double> calcDecelDistPlanType3(
 }
 }  // namespace
 
-boost::optional<double> calcDecelDistWithJerkAndAccConstraints(
+std::optional<double> calcDecelDistWithJerkAndAccConstraints(
   const double current_vel, const double target_vel, const double current_acc, const double acc_min,
   const double jerk_acc, const double jerk_dec)
 {

common/motion_utils/src/distance/distance.cpp

@@ -24,7 +24,7 @@
 namespace motion_utils
 {
 
-boost::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
+std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id)
 {
   size_t start_idx = 0;  // NOTE: to prevent from maybe-uninitialized error

common/motion_utils/src/trajectory/path_with_lane_id.cpp

@@ -124,7 +124,7 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati
     return false;
   }
 
-  return std::abs(motion_utils::calcSignedArcLength(trajectory_ptr_->points, p, idx.get())) <
+  return std::abs(motion_utils::calcSignedArcLength(trajectory_ptr_->points, p, idx.value())) <
          th_arrived_distance_m;
 }
 

common/motion_utils/src/trajectory/trajectory.cpp

@@ -85,15 +85,15 @@ TEST(path_with_lane_id, getPathIndexRangeWithLaneId)
     }
     {
       const auto res = getPathIndexRangeWithLaneId(points, 4);
-      EXPECT_EQ(res, boost::none);
+      EXPECT_EQ(res, std::nullopt);
     }
   }
 
   // Empty points
   {
     PathWithLaneId points;
     const auto res = getPathIndexRangeWithLaneId(points, 4);
-    EXPECT_EQ(res, boost::none);
+    EXPECT_EQ(res, std::nullopt);
   }
 }