fix(autoware_behavior_velocity_intersection_module): fix funcArgNames…

…Different (#8023) * fix:funcArgNamesDifferent Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:funcArgNamesDifferent Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * refactor:clang format Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:funcArgNamesDifferent Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
autowarefoundation · Aug 1, 2024 · b840acf · b840acf
1 parent aa2de28
commit b840acf
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Showing 3 changed files with 30 additions and 30 deletions.
diff --git a/...or_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/...or_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp
@@ -74,12 +74,12 @@ ObjectInfo::ObjectInfo(const unique_identifier_msgs::msg::UUID & uuid) : uuid_st
 
 void ObjectInfo::initialize(
   const autoware_perception_msgs::msg::PredictedObject & object,
-  std::optional<lanelet::ConstLanelet> attention_lanelet_opt_,
-  std::optional<lanelet::ConstLineString3d> stopline_opt_)
+  std::optional<lanelet::ConstLanelet> attention_lanelet_opt,
+  std::optional<lanelet::ConstLineString3d> stopline_opt)
 {
   predicted_object_ = object;
-  attention_lanelet_opt = attention_lanelet_opt_;
-  stopline_opt = stopline_opt_;
+  attention_lanelet_opt_ = attention_lanelet_opt;
+  stopline_opt_ = stopline_opt;
   unsafe_interval_ = std::nullopt;
   calc_dist_to_stopline();
 }
@@ -96,10 +96,10 @@ void ObjectInfo::update_safety(
 std::optional<geometry_msgs::msg::Point> ObjectInfo::estimated_past_position(
   const double past_duration) const
 {
-  if (!attention_lanelet_opt) {
+  if (!attention_lanelet_opt_) {
     return std::nullopt;
   }
-  const auto attention_lanelet = attention_lanelet_opt.value();
+  const auto attention_lanelet = attention_lanelet_opt_.value();
   const auto current_arc_coords = lanelet::utils::getArcCoordinates(
     {attention_lanelet}, predicted_object_.kinematics.initial_pose_with_covariance.pose);
   const auto distance = current_arc_coords.distance;
@@ -116,29 +116,29 @@ std::optional<geometry_msgs::msg::Point> ObjectInfo::estimated_past_position(
 
 void ObjectInfo::calc_dist_to_stopline()
 {
-  if (!stopline_opt || !attention_lanelet_opt) {
+  if (!stopline_opt_ || !attention_lanelet_opt_) {
     return;
   }
-  const auto attention_lanelet = attention_lanelet_opt.value();
+  const auto attention_lanelet = attention_lanelet_opt_.value();
   const auto object_arc_coords = lanelet::utils::getArcCoordinates(
     {attention_lanelet}, predicted_object_.kinematics.initial_pose_with_covariance.pose);
-  const auto stopline = stopline_opt.value();
+  const auto stopline = stopline_opt_.value();
   geometry_msgs::msg::Pose stopline_center;
   stopline_center.position.x = (stopline.front().x() + stopline.back().x()) / 2.0;
   stopline_center.position.y = (stopline.front().y() + stopline.back().y()) / 2.0;
   stopline_center.position.z = (stopline.front().z() + stopline.back().z()) / 2.0;
   const auto stopline_arc_coords =
     lanelet::utils::getArcCoordinates({attention_lanelet}, stopline_center);
-  dist_to_stopline_opt = (stopline_arc_coords.length - object_arc_coords.length);
+  dist_to_stopline_opt_ = (stopline_arc_coords.length - object_arc_coords.length);
 }
 
 bool ObjectInfo::can_stop_before_stopline(const double brake_deceleration) const
 {
-  if (!dist_to_stopline_opt) {
+  if (!dist_to_stopline_opt_) {
     return false;
   }
   const double velocity = predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x;
-  const double dist_to_stopline = dist_to_stopline_opt.value();
+  const double dist_to_stopline = dist_to_stopline_opt_.value();
   const double braking_distance = (velocity * velocity) / (2.0 * brake_deceleration);
   return dist_to_stopline > braking_distance;
 }
@@ -147,17 +147,17 @@ bool ObjectInfo::can_stop_before_ego_lane(
   const double brake_deceleration, const double tolerable_overshoot,
   lanelet::ConstLanelet ego_lane) const
 {
-  if (!dist_to_stopline_opt || !stopline_opt || !attention_lanelet_opt) {
+  if (!dist_to_stopline_opt_ || !stopline_opt_ || !attention_lanelet_opt_) {
     return false;
   }
-  const double dist_to_stopline = dist_to_stopline_opt.value();
+  const double dist_to_stopline = dist_to_stopline_opt_.value();
   const double velocity = predicted_object_.kinematics.initial_twist_with_covariance.twist.linear.x;
   const double braking_distance = (velocity * velocity) / (2.0 * brake_deceleration);
   if (dist_to_stopline > braking_distance) {
     return false;
   }
-  const auto attention_lanelet = attention_lanelet_opt.value();
-  const auto stopline = stopline_opt.value();
+  const auto attention_lanelet = attention_lanelet_opt_.value();
+  const auto stopline = stopline_opt_.value();
   const auto stopline_p1 = stopline.front();
   const auto stopline_p2 = stopline.back();
   const autoware::universe_utils::Point2d stopline_mid{
@@ -185,10 +185,10 @@ bool ObjectInfo::can_stop_before_ego_lane(
 
 bool ObjectInfo::before_stopline_by(const double margin) const
 {
-  if (!dist_to_stopline_opt) {
+  if (!dist_to_stopline_opt_) {
     return false;
   }
-  const double dist_to_stopline = dist_to_stopline_opt.value();
+  const double dist_to_stopline = dist_to_stopline_opt_.value();
   return dist_to_stopline < margin;
 }
 

diff --git a/...or_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.hpp b/...or_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.hpp
@@ -126,17 +126,16 @@ class ObjectInfo
    * @brief update predicted_object_, attention_lanelet, stopline, dist_to_stopline
    */
   void initialize(
-    const autoware_perception_msgs::msg::PredictedObject & predicted_object,
+    const autoware_perception_msgs::msg::PredictedObject & object,
     std::optional<lanelet::ConstLanelet> attention_lanelet_opt,
     std::optional<lanelet::ConstLineString3d> stopline_opt);
 
   /**
    * @brief update unsafe_knowledge
    */
   void update_safety(
-    const std::optional<CollisionInterval> & unsafe_interval_opt,
-    const std::optional<CollisionInterval> & safe_interval_opt,
-    const bool safe_under_traffic_control);
+    const std::optional<CollisionInterval> & unsafe_interval,
+    const std::optional<CollisionInterval> & safe_interval, const bool safe_under_traffic_control);
 
   /**
    * @brief find the estimated position of the object in the past
@@ -196,13 +195,13 @@ class ObjectInfo
   autoware_perception_msgs::msg::PredictedObject predicted_object_;
 
   //! null if the object in intersection_area but not in attention_area
-  std::optional<lanelet::ConstLanelet> attention_lanelet_opt{std::nullopt};
+  std::optional<lanelet::ConstLanelet> attention_lanelet_opt_{std::nullopt};
 
   //! null if the object in intersection_area but not in attention_area
-  std::optional<lanelet::ConstLineString3d> stopline_opt{std::nullopt};
+  std::optional<lanelet::ConstLineString3d> stopline_opt_{std::nullopt};
 
   //! null if the object in intersection_area but not in attention_area
-  std::optional<double> dist_to_stopline_opt{std::nullopt};
+  std::optional<double> dist_to_stopline_opt_{std::nullopt};
 
   //! store the information if judged as UNSAFE
   std::optional<CollisionInterval> unsafe_interval_{std::nullopt};
@@ -230,11 +229,12 @@ class ObjectInfoManager
 public:
   std::shared_ptr<ObjectInfo> registerObject(
     const unique_identifier_msgs::msg::UUID & uuid, const bool belong_attention_area,
-    const bool belong_intersection_area, const bool is_parked);
+    const bool belong_intersection_area, const bool is_parked_vehicle);
 
   void registerExistingObject(
     const unique_identifier_msgs::msg::UUID & uuid, const bool belong_attention_area,
-    const bool belong_intersection_area, const bool is_parked, std::shared_ptr<ObjectInfo> object);
+    const bool belong_intersection_area, const bool is_parked_vehicle,
+    std::shared_ptr<ObjectInfo> object);
 
   void clearObjects();
 

diff --git a/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp b/...elocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.hpp
@@ -590,7 +590,7 @@ class IntersectionModule : public SceneModuleInterface
    * @brief generate discretized detection lane linestring.
    */
   std::vector<lanelet::ConstLineString3d> generateDetectionLaneDivisions(
-    lanelet::ConstLanelets detection_lanelets,
+    lanelet::ConstLanelets detection_lanelets_all,
     const lanelet::routing::RoutingGraphPtr routing_graph_ptr, const double resolution) const;
   /** @} */
 
@@ -752,7 +752,7 @@ class IntersectionModule : public SceneModuleInterface
 
   void cutPredictPathWithinDuration(
     const builtin_interfaces::msg::Time & object_stamp, const double time_thr,
-    autoware_perception_msgs::msg::PredictedPath * predicted_path) const;
+    autoware_perception_msgs::msg::PredictedPath * path) const;
 
   /**
    * @brief check if there are any objects around the stoplines on the attention areas when ego
@@ -809,7 +809,7 @@ class IntersectionModule : public SceneModuleInterface
   TimeDistanceArray calcIntersectionPassingTime(
     const tier4_planning_msgs::msg::PathWithLaneId & path, const bool is_prioritized,
     const IntersectionStopLines & intersection_stoplines,
-    tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array) const;
+    tier4_debug_msgs::msg::Float64MultiArrayStamped * ego_ttc_array) const;
   /** @} */
 
   mutable DebugData debug_data_;