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fix(behavior_path_planner): move findEgoIndex & findEgoSegmentIndex to planner data #2912

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Feb 20, 2023
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fix(behavior_path_planner): move findEgoIndex & findEgoSegmentIndex to planner data #2912

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18 changes: 0 additions & 18 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,24 +213,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node
*/
Path convertToPath(
const std::shared_ptr<PathWithLaneId> & path_candidate_ptr, const bool is_ready);

template <class T>
size_t findEgoIndex(const std::vector<T> & points) const
{
const auto & p = planner_data_;
return motion_utils::findFirstNearestIndexWithSoftConstraints(
points, p->self_odometry->pose.pose, p->parameters.ego_nearest_dist_threshold,
p->parameters.ego_nearest_yaw_threshold);
}

template <class T>
size_t findEgoSegmentIndex(const std::vector<T> & points) const
{
const auto & p = planner_data_;
return motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
points, p->self_odometry->pose.pose, p->parameters.ego_nearest_dist_threshold,
p->parameters.ego_nearest_yaw_threshold);
}
};
} // namespace behavior_path_planner

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17 changes: 17 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
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Expand Up @@ -32,6 +32,7 @@

#include <memory>
#include <string>
#include <vector>

namespace behavior_path_planner
{
Expand Down Expand Up @@ -74,6 +75,22 @@ struct PlannerData
std::shared_ptr<RouteHandler> route_handler{std::make_shared<RouteHandler>()};
BehaviorPathPlannerParameters parameters{};
drivable_area_expansion::DrivableAreaExpansionParameters drivable_area_expansion_parameters{};

template <class T>
size_t findEgoIndex(const std::vector<T> & points) const
{
return motion_utils::findFirstNearestIndexWithSoftConstraints(
points, self_odometry->pose.pose, parameters.ego_nearest_dist_threshold,
parameters.ego_nearest_yaw_threshold);
}

template <class T>
size_t findEgoSegmentIndex(const std::vector<T> & points) const
{
return motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
points, self_odometry->pose.pose, parameters.ego_nearest_dist_threshold,
parameters.ego_nearest_yaw_threshold);
}
};

} // namespace behavior_path_planner
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2 changes: 1 addition & 1 deletion ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
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Expand Up @@ -339,7 +339,7 @@ class AvoidanceModule : public SceneModuleInterface

void postProcess(PathShifter & path_shifter) const
{
const size_t nearest_idx = findEgoIndex(path_shifter.getReferencePath().points);
const size_t nearest_idx = planner_data_->findEgoIndex(path_shifter.getReferencePath().points);
path_shifter.removeBehindShiftLineAndSetBaseOffset(nearest_idx);
}

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18 changes: 0 additions & 18 deletions ...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
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Expand Up @@ -306,24 +306,6 @@ class SceneModuleInterface
return uuid;
}

template <class T>
size_t findEgoIndex(const std::vector<T> & points) const
{
const auto & p = planner_data_;
return motion_utils::findFirstNearestIndexWithSoftConstraints(
points, p->self_odometry->pose.pose, p->parameters.ego_nearest_dist_threshold,
p->parameters.ego_nearest_yaw_threshold);
}

template <class T>
size_t findEgoSegmentIndex(const std::vector<T> & points) const
{
const auto & p = planner_data_;
return motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
points, p->self_odometry->pose.pose, p->parameters.ego_nearest_dist_threshold,
p->parameters.ego_nearest_yaw_threshold);
}

public:
BT::NodeStatus current_state_;
};
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -798,7 +798,7 @@ void BehaviorPathPlannerNode::run()
// publish drivable bounds
publish_bounds(*path);

const size_t target_idx = findEgoIndex(path->points);
const size_t target_idx = planner_data->findEgoIndex(path->points);
util::clipPathLength(*path, target_idx, planner_data_->parameters);

if (!path->points.empty()) {
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6 changes: 3 additions & 3 deletions planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -2182,7 +2182,7 @@ bool AvoidanceModule::isSafePath(
auto path_with_current_velocity = shifted_path.path;
path_with_current_velocity = util::resamplePathWithSpline(path_with_current_velocity, 0.5);

const size_t ego_idx = findEgoIndex(path_with_current_velocity.points);
const size_t ego_idx = planner_data_->findEgoIndex(path_with_current_velocity.points);
util::clipPathLength(path_with_current_velocity, ego_idx, forward_check_distance, 0.0);

constexpr double MIN_EGO_VEL_IN_PREDICTION = 1.38; // 5km/h
Expand Down Expand Up @@ -2964,7 +2964,7 @@ BehaviorModuleOutput AvoidanceModule::plan()

output.path = std::make_shared<PathWithLaneId>(avoidance_path.path);

const size_t ego_idx = findEgoIndex(output.path->points);
const size_t ego_idx = planner_data_->findEgoIndex(output.path->points);
util::clipPathLength(*output.path, ego_idx, planner_data_->parameters);

// Drivable area generation.
Expand Down Expand Up @@ -3009,7 +3009,7 @@ CandidateOutput AvoidanceModule::planCandidate() const
"");
}

const size_t ego_idx = findEgoIndex(shifted_path.path.points);
const size_t ego_idx = planner_data_->findEgoIndex(shifted_path.path.points);
util::clipPathLength(shifted_path.path, ego_idx, planner_data_->parameters);

output.path_candidate = shifted_path.path;
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
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Expand Up @@ -133,7 +133,7 @@ PathWithLaneId LaneFollowingModule::getReferencePath() const
p.forward_path_length, p);

// clip backward length
const size_t current_seg_idx = findEgoSegmentIndex(reference_path.points);
const size_t current_seg_idx = planner_data_->findEgoSegmentIndex(reference_path.points);
util::clipPathLength(
reference_path, current_seg_idx, p.forward_path_length, p.backward_path_length);
const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler);
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6 changes: 3 additions & 3 deletions planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
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Expand Up @@ -485,7 +485,7 @@ BehaviorModuleOutput PullOverModule::plan()

// generate drivable area for each partial path
for (auto & path : status_.pull_over_path.partial_paths) {
const size_t ego_idx = findEgoIndex(path.points);
const size_t ego_idx = planner_data_->findEgoIndex(path.points);
util::clipPathLength(path, ego_idx, planner_data_->parameters);
const auto shorten_lanes = util::cutOverlappedLanes(path, status_.lanes);
const auto expanded_lanes = util::expandLanelets(
Expand Down Expand Up @@ -661,7 +661,7 @@ PathWithLaneId PullOverModule::generateStopPath()
: (closest_start_pose_ ? closest_start_pose_.value() : *search_start_pose);

// if stop pose is closer than min_stop_distance, stop as soon as possible
const size_t ego_idx = findEgoIndex(reference_path.points);
const size_t ego_idx = planner_data_->findEgoIndex(reference_path.points);
const size_t stop_idx = findFirstNearestSegmentIndexWithSoftConstraints(
reference_path.points, stop_pose, common_parameters.ego_nearest_dist_threshold,
common_parameters.ego_nearest_yaw_threshold);
Expand Down Expand Up @@ -722,7 +722,7 @@ PathWithLaneId PullOverModule::generateEmergencyStopPath()
}

// set deceleration velocity
const size_t ego_idx = findEgoIndex(stop_path.points);
const size_t ego_idx = planner_data_->findEgoIndex(stop_path.points);
for (auto & point : stop_path.points) {
auto & p = point.point;
const size_t target_idx = findFirstNearestSegmentIndexWithSoftConstraints(
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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -194,7 +194,7 @@ void SideShiftModule::updateData()
current_lanelets_ = route_handler->getLaneletSequence(
current_lane, reference_pose, p.backward_path_length, p.forward_path_length);

const size_t nearest_idx = findEgoIndex(path_shifter_.getReferencePath().points);
const size_t nearest_idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points);
path_shifter_.removeBehindShiftLineAndSetBaseOffset(nearest_idx);
}

Expand Down Expand Up @@ -337,7 +337,7 @@ ShiftLine SideShiftModule::calcShiftLine() const
return dist_to_end;
}();

const size_t nearest_idx = findEgoIndex(reference_path_->points);
const size_t nearest_idx = planner_data_->findEgoIndex(reference_path_->points);
ShiftLine shift_line;
shift_line.end_shift_length = requested_lateral_offset_;
shift_line.start_idx = util::getIdxByArclength(*reference_path_, nearest_idx, dist_to_start);
Expand Down