refactor(lane_change): add const to lane change functions (autowarefo…

…undation#6175) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
tier4 · Feb 23, 2024 · c92aa75 · c92aa75
1 parent 0bd8954
commit c92aa75
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp
@@ -55,7 +55,7 @@ class NormalLaneChange : public LaneChangeBase
 
   BehaviorModuleOutput generateOutput() override;
 
-  void extendOutputDrivableArea(BehaviorModuleOutput & output) override;
+  void extendOutputDrivableArea(BehaviorModuleOutput & output) const override;
 
   void insertStopPoint(const lanelet::ConstLanelets & lanelets, PathWithLaneId & path) override;
 
@@ -65,7 +65,7 @@ class NormalLaneChange : public LaneChangeBase
 
   void resetParameters() override;
 
-  TurnSignalInfo updateOutputTurnSignal() override;
+  TurnSignalInfo updateOutputTurnSignal() const override;
 
   bool calcAbortPath() override;
 
@@ -148,7 +148,7 @@ class NormalLaneChange : public LaneChangeBase
     const utils::path_safety_checker::RSSparams rss_params, const bool is_stuck,
     const bool check_safety = true) const override;
 
-  TurnSignalInfo calcTurnSignalInfo() override;
+  TurnSignalInfo calcTurnSignalInfo() const override;
 
   bool isValidPath(const PathWithLaneId & path) const override;
 

diff --git a/...ior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp b/...ior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp
@@ -67,15 +67,15 @@ class LaneChangeBase
 
   virtual BehaviorModuleOutput generateOutput() = 0;
 
-  virtual void extendOutputDrivableArea(BehaviorModuleOutput & output) = 0;
+  virtual void extendOutputDrivableArea(BehaviorModuleOutput & output) const = 0;
 
   virtual PathWithLaneId getReferencePath() const = 0;
 
   virtual std::optional<PathWithLaneId> extendPath() = 0;
 
   virtual void resetParameters() = 0;
 
-  virtual TurnSignalInfo updateOutputTurnSignal() = 0;
+  virtual TurnSignalInfo updateOutputTurnSignal() const = 0;
 
   virtual bool hasFinishedLaneChange() const = 0;
 
@@ -224,7 +224,7 @@ class LaneChangeBase
     LaneChangePaths * candidate_paths, const utils::path_safety_checker::RSSparams rss_params,
     const bool is_stuck, const bool check_safety) const = 0;
 
-  virtual TurnSignalInfo calcTurnSignalInfo() = 0;
+  virtual TurnSignalInfo calcTurnSignalInfo() const = 0;
 
   virtual bool isValidPath(const PathWithLaneId & path) const = 0;
 

diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp
@@ -188,7 +188,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
   return output;
 }
 
-void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output)
+void NormalLaneChange::extendOutputDrivableArea(BehaviorModuleOutput & output) const
 {
   const auto & dp = planner_data_->drivable_area_expansion_parameters;
 
@@ -471,7 +471,7 @@ void NormalLaneChange::resetParameters()
   RCLCPP_DEBUG(logger_, "reset all flags and debug information.");
 }
 
-TurnSignalInfo NormalLaneChange::updateOutputTurnSignal()
+TurnSignalInfo NormalLaneChange::updateOutputTurnSignal() const
 {
   TurnSignalInfo turn_signal_info = calcTurnSignalInfo();
   const auto [turn_signal_command, distance_to_vehicle_front] = utils::getPathTurnSignal(
@@ -1527,7 +1527,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const
   return safety_status;
 }
 
-TurnSignalInfo NormalLaneChange::calcTurnSignalInfo()
+TurnSignalInfo NormalLaneChange::calcTurnSignalInfo() const
 {
   const auto get_blinker_pose = [](const PathWithLaneId & path, const double length) {
     double accumulated_length = 0.0;