Skip to content

Commit d2142b9

Browse files
satoshi-otasatoshi-ota
authored
fix(bpp): use common steering factor interface for same scene modules (autowarefoundation#8675) (#1505)
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1 parent fd5dda0 commit d2142b9

File tree

27 files changed

+60
-36
lines changed

27 files changed

+60
-36
lines changed

‎planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp

+3-1
Original file line numberDiff line numberDiff line change
@@ -31,13 +31,15 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
3131
const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
3232
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
3333
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
34-
objects_of_interest_marker_interface_ptr_map)
34+
objects_of_interest_marker_interface_ptr_map,
35+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
3536
: LaneChangeInterface{
3637
name,
3738
node,
3839
parameters,
3940
rtc_interface_ptr_map,
4041
objects_of_interest_marker_interface_ptr_map,
42+
steering_factor_interface_ptr,
4143
std::make_unique<AvoidanceByLaneChange>(parameters, avoidance_by_lane_change_parameters)}
4244
{
4345
}

‎planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,8 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
4040
const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
4141
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
4242
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
43-
objects_of_interest_marker_interface_ptr_map);
43+
objects_of_interest_marker_interface_ptr_map,
44+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
4445

4546
bool isExecutionRequested() const override;
4647

‎planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -192,7 +192,7 @@ AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
192192
{
193193
return std::make_unique<AvoidanceByLaneChangeInterface>(
194194
name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_,
195-
objects_of_interest_marker_interface_ptr_map_);
195+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
196196
}
197197

198198
} // namespace autoware::behavior_path_planner

‎planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
4242
{
4343
return std::make_unique<DynamicObstacleAvoidanceModule>(
4444
name_, *node_, parameters_, rtc_interface_ptr_map_,
45-
objects_of_interest_marker_interface_ptr_map_);
45+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
4646
}
4747

4848
void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

‎planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -343,7 +343,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
343343
std::shared_ptr<DynamicAvoidanceParameters> parameters,
344344
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
345345
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
346-
objects_of_interest_marker_interface_ptr_map);
346+
objects_of_interest_marker_interface_ptr_map,
347+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
347348

348349
void updateModuleParams(const std::any & parameters) override
349350
{

‎planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -331,8 +331,9 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule(
331331
std::shared_ptr<DynamicAvoidanceParameters> parameters,
332332
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
333333
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
334-
objects_of_interest_marker_interface_ptr_map)
335-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
334+
objects_of_interest_marker_interface_ptr_map,
335+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
336+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
336337
parameters_{std::move(parameters)},
337338
target_objects_manager_{TargetObjectsManager(
338339
parameters_->successive_num_to_entry_dynamic_avoidance_condition,

‎planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance()
2626
{
2727
return std::make_unique<LaneChangeInterface>(
2828
name_, *node_, parameters_, rtc_interface_ptr_map_,
29-
objects_of_interest_marker_interface_ptr_map_,
29+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
3030
std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
3131
}
3232

@@ -35,7 +35,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance()
3535
{
3636
return std::make_unique<LaneChangeInterface>(
3737
name_, *node_, parameters_, rtc_interface_ptr_map_,
38-
objects_of_interest_marker_interface_ptr_map_,
38+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
3939
std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
4040
}
4141

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -307,7 +307,8 @@ class GoalPlannerModule : public SceneModuleInterface
307307
const std::shared_ptr<GoalPlannerParameters> & parameters,
308308
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
309309
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
310-
objects_of_interest_marker_interface_ptr_map);
310+
objects_of_interest_marker_interface_ptr_map,
311+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
311312

312313
~GoalPlannerModule()
313314
{

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface
3838
{
3939
return std::make_unique<GoalPlannerModule>(
4040
name_, *node_, parameters_, rtc_interface_ptr_map_,
41-
objects_of_interest_marker_interface_ptr_map_);
41+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
4242
}
4343

4444
void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -57,8 +57,9 @@ GoalPlannerModule::GoalPlannerModule(
5757
const std::shared_ptr<GoalPlannerParameters> & parameters,
5858
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
5959
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
60-
objects_of_interest_marker_interface_ptr_map)
61-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
60+
objects_of_interest_marker_interface_ptr_map,
61+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
62+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
6263
parameters_{parameters},
6364
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
6465
thread_safe_data_{mutex_, clock_},

‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp

+1
Original file line numberDiff line numberDiff line change
@@ -52,6 +52,7 @@ class LaneChangeInterface : public SceneModuleInterface
5252
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
5353
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
5454
objects_of_interest_marker_interface_ptr_map,
55+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr,
5556
std::unique_ptr<LaneChangeBase> && module_type);
5657

5758
LaneChangeInterface(const LaneChangeInterface &) = delete;

‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -38,14 +38,14 @@ LaneChangeInterface::LaneChangeInterface(
3838
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
3939
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
4040
objects_of_interest_marker_interface_ptr_map,
41+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr,
4142
std::unique_ptr<LaneChangeBase> && module_type)
42-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
43+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
4344
parameters_{std::move(parameters)},
4445
module_type_{std::move(module_type)},
4546
prev_approved_path_{std::make_unique<PathWithLaneId>()}
4647
{
4748
module_type_->setTimeKeeper(getTimeKeeper());
48-
steering_factor_interface_ptr_ = std::make_unique<SteeringFactorInterface>(&node, name);
4949
logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr());
5050
}
5151

‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -299,7 +299,7 @@ std::unique_ptr<SceneModuleInterface> LaneChangeModuleManager::createNewSceneMod
299299
{
300300
return std::make_unique<LaneChangeInterface>(
301301
name_, *node_, parameters_, rtc_interface_ptr_map_,
302-
objects_of_interest_marker_interface_ptr_map_,
302+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
303303
std::make_unique<NormalLaneChange>(parameters_, LaneChangeModuleType::NORMAL, direction_));
304304
}
305305

‎planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -90,15 +90,15 @@ class SceneModuleInterface
9090
const std::string & name, rclcpp::Node & node,
9191
std::unordered_map<std::string, std::shared_ptr<RTCInterface>> rtc_interface_ptr_map,
9292
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>>
93-
objects_of_interest_marker_interface_ptr_map)
93+
objects_of_interest_marker_interface_ptr_map,
94+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
9495
: name_{name},
9596
logger_{node.get_logger().get_child(name)},
9697
clock_{node.get_clock()},
9798
rtc_interface_ptr_map_(std::move(rtc_interface_ptr_map)),
9899
objects_of_interest_marker_interface_ptr_map_(
99100
std::move(objects_of_interest_marker_interface_ptr_map)),
100-
steering_factor_interface_ptr_(
101-
std::make_unique<SteeringFactorInterface>(&node, utils::convertToSnakeCase(name))),
101+
steering_factor_interface_ptr_{steering_factor_interface_ptr},
102102
time_keeper_(std::make_shared<universe_utils::TimeKeeper>())
103103
{
104104
for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
@@ -640,7 +640,7 @@ class SceneModuleInterface
640640
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>>
641641
objects_of_interest_marker_interface_ptr_map_;
642642

643-
std::unique_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
643+
std::shared_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
644644

645645
mutable std::optional<Pose> stop_pose_{std::nullopt};
646646

‎planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp

+8
Original file line numberDiff line numberDiff line change
@@ -315,6 +315,12 @@ class SceneModuleManagerInterface
315315
"~/processing_time/" + name_, 20);
316316
}
317317

318+
// init steering factor
319+
{
320+
steering_factor_interface_ptr_ =
321+
std::make_shared<SteeringFactorInterface>(node, utils::convertToSnakeCase(name_));
322+
}
323+
318324
// misc
319325
{
320326
node_ = node;
@@ -339,6 +345,8 @@ class SceneModuleManagerInterface
339345

340346
std::shared_ptr<PlannerData> planner_data_;
341347

348+
std::shared_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
349+
342350
std::vector<SceneModuleObserver> observers_;
343351

344352
std::unique_ptr<SceneModuleInterface> idle_module_ptr_;

‎planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface
3838
{
3939
return std::make_unique<SamplingPlannerModule>(
4040
name_, *node_, parameters_, rtc_interface_ptr_map_,
41-
objects_of_interest_marker_interface_ptr_map_);
41+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
4242
}
4343

4444
void updateModuleParams(

‎planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -86,7 +86,8 @@ class SamplingPlannerModule : public SceneModuleInterface
8686
const std::shared_ptr<SamplingPlannerParameters> & parameters,
8787
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
8888
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
89-
objects_of_interest_marker_interface_ptr_map);
89+
objects_of_interest_marker_interface_ptr_map,
90+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
9091

9192
bool isExecutionRequested() const override;
9293
bool isExecutionReady() const override;

‎planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -33,8 +33,9 @@ SamplingPlannerModule::SamplingPlannerModule(
3333
const std::shared_ptr<SamplingPlannerParameters> & parameters,
3434
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
3535
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
36-
objects_of_interest_marker_interface_ptr_map)
37-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
36+
objects_of_interest_marker_interface_ptr_map,
37+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
38+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
3839
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}
3940
{
4041
internal_params_ = std::make_shared<SamplingPlannerInternalParameters>();

‎planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface
3939
{
4040
return std::make_unique<SideShiftModule>(
4141
name_, *node_, parameters_, rtc_interface_ptr_map_,
42-
objects_of_interest_marker_interface_ptr_map_);
42+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
4343
}
4444

4545
void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

‎planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -45,7 +45,8 @@ class SideShiftModule : public SceneModuleInterface
4545
const std::shared_ptr<SideShiftParameters> & parameters,
4646
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
4747
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
48-
objects_of_interest_marker_interface_ptr_map);
48+
objects_of_interest_marker_interface_ptr_map,
49+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
4950

5051
bool isExecutionRequested() const override;
5152
bool isExecutionReady() const override;

‎planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -40,8 +40,9 @@ SideShiftModule::SideShiftModule(
4040
const std::shared_ptr<SideShiftParameters> & parameters,
4141
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
4242
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
43-
objects_of_interest_marker_interface_ptr_map)
44-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
43+
objects_of_interest_marker_interface_ptr_map,
44+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
45+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
4546
parameters_{parameters}
4647
{
4748
}

‎planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface
3838
{
3939
return std::make_unique<StartPlannerModule>(
4040
name_, *node_, parameters_, rtc_interface_ptr_map_,
41-
objects_of_interest_marker_interface_ptr_map_);
41+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
4242
}
4343

4444
void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

‎planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -88,7 +88,8 @@ class StartPlannerModule : public SceneModuleInterface
8888
const std::shared_ptr<StartPlannerParameters> & parameters,
8989
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
9090
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
91-
objects_of_interest_marker_interface_ptr_map);
91+
objects_of_interest_marker_interface_ptr_map,
92+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
9293

9394
~StartPlannerModule() override
9495
{

‎planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -59,8 +59,9 @@ StartPlannerModule::StartPlannerModule(
5959
const std::shared_ptr<StartPlannerParameters> & parameters,
6060
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
6161
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
62-
objects_of_interest_marker_interface_ptr_map)
63-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
62+
objects_of_interest_marker_interface_ptr_map,
63+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
64+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
6465
parameters_{parameters},
6566
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
6667
is_freespace_planner_cb_running_{false}

‎planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
4141
{
4242
return std::make_unique<StaticObstacleAvoidanceModule>(
4343
name_, *node_, parameters_, rtc_interface_ptr_map_,
44-
objects_of_interest_marker_interface_ptr_map_);
44+
objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
4545
}
4646

4747
void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

‎planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -46,7 +46,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
4646
const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
4747
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
4848
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
49-
objects_of_interest_marker_interface_ptr_map);
49+
objects_of_interest_marker_interface_ptr_map,
50+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
5051

5152
CandidateOutput planCandidate() const override;
5253
BehaviorModuleOutput plan() override;

‎planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -76,8 +76,9 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule(
7676
const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
7777
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
7878
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
79-
objects_of_interest_marker_interface_ptr_map)
80-
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
79+
objects_of_interest_marker_interface_ptr_map,
80+
std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
81+
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT
8182
helper_{std::make_shared<AvoidanceHelper>(parameters)},
8283
parameters_{parameters},
8384
generator_{parameters}

0 commit comments

Comments
 (0)