From 64a80d83b0189812c6392d4b29afc6140ba2732c Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Tue, 7 Nov 2023 15:40:53 +0900 Subject: [PATCH] fix conflict Signed-off-by: Muhammad Zulfaqar Azmi --- .../scene_module/lane_change/normal.hpp | 3 +-- .../src/scene_module/lane_change/normal.cpp | 13 ++++++------- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index c1f2fda4b82dc..241ac515d415b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -136,8 +136,7 @@ class NormalLaneChange : public LaneChangeBase const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const; bool hasEnoughLengthToTrafficLight( - const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes, - lanelet::Id & traffic_light_id) const; + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const; bool getLaneChangePaths( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 8d80b415ae3b8..7c6f1b3df08f1 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -19,6 +19,7 @@ #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/path_utils.hpp" +#include "behavior_path_planner/utils/traffic_light_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" #include @@ -38,6 +39,7 @@ namespace behavior_path_planner { using motion_utils::calcSignedArcLength; +using utils::traffic_light::getDistanceToNextTrafficLight; NormalLaneChange::NormalLaneChange( const std::shared_ptr & parameters, LaneChangeModuleType type, @@ -1082,13 +1084,11 @@ bool NormalLaneChange::hasEnoughLengthToIntersection( } bool NormalLaneChange::hasEnoughLengthToTrafficLight( - const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes, - lanelet::Id & traffic_light_id) const + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const { const auto current_pose = getEgoPose(); - const auto [next_traffic_light_id, dist_to_next_traffic_light] = - utils::getDistanceToNextTrafficLight(current_pose, current_lanes); - traffic_light_id = next_traffic_light_id; + const auto dist_to_next_traffic_light = + getDistanceToNextTrafficLight(current_pose, current_lanes); const auto dist_to_next_traffic_light_from_lc_start_pose = dist_to_next_traffic_light - path.info.length.prepare; @@ -1355,10 +1355,9 @@ bool NormalLaneChange::getLaneChangePaths( logger_, "Stop time is over threshold. Allow lane change in intersection."); } - auto traffic_light_id = lanelet::InvalId; if ( lane_change_parameters_->regulate_on_traffic_light && - !hasEnoughLengthToTrafficLight(*candidate_path, current_lanes, traffic_light_id)) { + !hasEnoughLengthToTrafficLight(*candidate_path, current_lanes)) { continue; }