HdMapUtils refactor lanelet_wrapper::lanelet_map::leftBound rightBound

[abco20]

Description

Abstract

This is the partial PR of the HdMapUtils refactor (PR 2/6) ( #1478 )

Details

Replace usage of HdMapUtils::getLeftBound and getRightBound with non-member function lanelet_wrapper::lanelet_map::leftBound, rightBound

References

• HdMapUtils refactor (PR 2/6) - extend lanelet_wrapper: add ::distance and necessary parts of ::route, ::lanelet_map, ::traffic_lights #1478

Destructive Changes

The hdmap_utils_ptr parameter has been removed from the following functions:

• traffic_simulator::distance::distanceToLaneBound
• traffic_simulator::distance::distanceToLeftLaneBound
• traffic_simulator::distance::distanceToRightLaneBound

For the rationale behind this change, see #1478.

Migration Guide

Before (Old Signature)

auto distanceToLaneBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  lanelet::Id lanelet_id,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;

auto distanceToLaneBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  const lanelet::Ids & lanelet_ids,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;

auto distanceToLeftBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  lanelet::Id lanelet_id,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;

auto distanceToLeftBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  const lanelet::Ids & lanelet_ids,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;

auto distanceToRightBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  lanelet::Id lanelet_id,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;

auto distanceToRightBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  const lanelet::Ids & lanelet_ids,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> double;

After (New Signature)

auto distanceToLaneBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  lanelet::Id lanelet_id) -> double;

auto distanceToLaneBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  const lanelet::Ids & lanelet_ids) -> double;

auto distanceToLeftBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  lanelet::Id lanelet_id) -> double;

auto distanceToLeftBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  const lanelet::Ids & lanelet_ids) -> double;

auto distanceToRightBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  lanelet::Id lanelet_id) -> double;

auto distanceToRightBound(
  const geometry_msgs::msg::Pose & map_pose,
  const traffic_simulator_msgs::msg::BoundingBox & bounding_box, 
  const lanelet::Ids & lanelet_ids) -> double;

The fourth parameter, const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr, has been removed.
Remove the hdmap_utils_ptr argument from call to distanceToLaneBound, distanceToLeftBound, distanceToRightBound.

Known Limitations

None.

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
• Labels of this pull request are valid?
• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
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[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
65.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

[hakuturu583]

This Pull Request contains destructive changes “such as changes to the arguments of the distanceToLaneBound function.
Please update the Description of the Pull Request appropriately.

Be sure to include in the description the function that has undergone the destructive change and its Migration Guide.

[hakuturu583]

I searched for the distanceToLaneBound, distanceToLeftLaneBound and distanceToRightLaneBound functions in #1478 description, but I cannot find them.