fix(autoware_behavior_path_avoidance_by_lane_change_module): fix clan…

…g-tidy issues

Signed-off-by: Esteve Fernandez <[email protected]>

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp

@@ -16,13 +16,11 @@
 
 #include "behavior_path_avoidance_module/data_structs.hpp"
 
-namespace autoware
+namespace autoware::behavior_path_planner
 {
-namespace behavior_path_planner
-{
-using ::behavior_path_planner::DebugData;
+using ::behavior_path_planner::AvoidanceParameters;
 
-struct AvoidanceByLCParameters : public ::behavior_path_planner::AvoidanceParameters
+struct AvoidanceByLCParameters : public AvoidanceParameters
 {
   // execute only when the target object longitudinal distance is larger than this param.
   double execute_object_longitudinal_margin{0.0};
@@ -34,7 +32,6 @@ struct AvoidanceByLCParameters : public ::behavior_path_planner::AvoidanceParame
   {
   }
 };
-}  // namespace behavior_path_planner
-}  // namespace autoware
+} // namespace autoware::behavior_path_planner
 
 #endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/interface.hpp

@@ -25,11 +25,8 @@
 #include <string>
 #include <unordered_map>
 
-namespace autoware
+namespace autoware::behavior_path_planner
 {
-namespace behavior_path_planner
-{
-using ::behavior_path_planner::Direction;
 using ::behavior_path_planner::LaneChangeInterface;
 using ::behavior_path_planner::ObjectsOfInterestMarkerInterface;
 using ::behavior_path_planner::RTCInterface;
@@ -52,7 +49,6 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
 protected:
   void updateRTCStatus(const double start_distance, const double finish_distance) override;
 };
-}  // namespace behavior_path_planner
-}  // namespace autoware
+} // namespace autoware::behavior_path_planner
 
 #endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp

@@ -26,17 +26,11 @@
 #include <unordered_map>
 #include <vector>
 
-namespace autoware
+namespace autoware::behavior_path_planner
 {
-namespace behavior_path_planner
-{
-using ::behavior_path_planner::AvoidancePlanningData;
 using ::behavior_path_planner::LaneChangeModuleManager;
 using ::behavior_path_planner::LaneChangeModuleType;
-using ::behavior_path_planner::ObjectParameter;
 using ::behavior_path_planner::SceneModuleInterface;
-using ::behavior_path_planner::SceneModuleManagerInterface;
-using ::route_handler::Direction;
 
 class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
 {
@@ -55,7 +49,6 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager
 private:
   std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters_;
 };
-}  // namespace behavior_path_planner
-}  // namespace autoware
+} // namespace autoware::behavior_path_planner
 
 #endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_

planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp

@@ -21,28 +21,24 @@
 
 #include <memory>
 
-namespace autoware
+namespace autoware::behavior_path_planner
 {
-namespace behavior_path_planner
-{
-using ::behavior_path_planner::AvoidanceParameters;
-using ::route_handler::Direction;
+using ::behavior_path_planner::DebugData;
 using AvoidanceDebugData = DebugData;
 using ::behavior_path_planner::AvoidancePlanningData;
-using ::behavior_path_planner::LaneChangeModuleType;
 using ::behavior_path_planner::LaneChangeParameters;
 using ::behavior_path_planner::ObjectData;
 using ::behavior_path_planner::ObjectDataArray;
-using ::behavior_path_planner::Point2d;
 using ::behavior_path_planner::PredictedObject;
 using ::behavior_path_planner::helper::avoidance::AvoidanceHelper;
+using ::behavior_path_planner::NormalLaneChange;
 
-class AvoidanceByLaneChange : public ::behavior_path_planner::NormalLaneChange
+class AvoidanceByLaneChange : public NormalLaneChange
 {
 public:
   AvoidanceByLaneChange(
     const std::shared_ptr<LaneChangeParameters> & parameters,
-    std::shared_ptr<AvoidanceByLCParameters> avoidance_by_lane_change_parameters);
+    std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters);
 
   bool specialRequiredCheck() const override;
 
@@ -53,24 +49,23 @@ class AvoidanceByLaneChange : public ::behavior_path_planner::NormalLaneChange
 private:
   std::shared_ptr<AvoidanceByLCParameters> avoidance_parameters_;
 
-  AvoidancePlanningData calcAvoidancePlanningData(AvoidanceDebugData & debug) const;
+  AvoidancePlanningData calc_avoidance_planning_data(AvoidanceDebugData & debug) const;
   AvoidancePlanningData avoidance_data_;
   mutable AvoidanceDebugData avoidance_debug_data_;
 
   ObjectDataArray registered_objects_;
   mutable ObjectDataArray stopped_objects_;
   std::shared_ptr<AvoidanceHelper> avoidance_helper_;
 
-  std::optional<ObjectData> createObjectData(
+  std::optional<ObjectData> create_object_data(
     const AvoidancePlanningData & data, const PredictedObject & object) const;
 
-  void fillAvoidanceTargetObjects(AvoidancePlanningData & data, AvoidanceDebugData & debug) const;
+  void fill_avoidance_target_objects(AvoidancePlanningData & data, AvoidanceDebugData & debug) const;
 
-  double calcMinAvoidanceLength(const ObjectData & nearest_object) const;
-  double calcMinimumLaneChangeLength() const;
-  double calcLateralOffset() const;
+  double calc_min_avoidance_length(const ObjectData & nearest_object) const;
+  double calc_minimum_lane_change_length() const;
+  double calc_lateral_offset() const;
 };
-}  // namespace behavior_path_planner
-}  // namespace autoware
+} // namespace autoware::behavior_path_planner
 
 #endif  // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_

planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp

@@ -22,6 +22,8 @@
 
 namespace autoware::behavior_path_planner
 {
+using ::route_handler::Direction;
+
 AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<LaneChangeParameters> & parameters,

planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp

@@ -27,6 +27,8 @@
 
 namespace autoware::behavior_path_planner
 {
+using ::behavior_path_planner::ObjectParameter;
+
 void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
 {
   using autoware_auto_perception_msgs::msg::ObjectClassification;

planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp

@@ -35,6 +35,9 @@
 namespace autoware::behavior_path_planner
 {
 using ::behavior_path_planner::utils::lane_change::debug::createExecutionArea;
+using ::route_handler::Direction;
+using ::behavior_path_planner::LaneChangeModuleType;
+using ::behavior_path_planner::Point2d;
 
 AvoidanceByLaneChange::AvoidanceByLaneChange(
   const std::shared_ptr<LaneChangeParameters> & parameters,
@@ -76,12 +79,12 @@ bool AvoidanceByLaneChange::specialRequiredCheck() const
   }
 
   const auto & nearest_object = data.target_objects.front();
-  const auto minimum_avoid_length = calcMinAvoidanceLength(nearest_object);
-  const auto minimum_lane_change_length = calcMinimumLaneChangeLength();
+  const auto minimum_avoid_length = calc_min_avoidance_length(nearest_object);
+  const auto minimum_lane_change_length = calc_minimum_lane_change_length();
 
   lane_change_debug_.execution_area = createExecutionArea(
     getCommonParam().vehicle_info, getEgoPose(),
-    std::max(minimum_lane_change_length, minimum_avoid_length), calcLateralOffset());
+    std::max(minimum_lane_change_length, minimum_avoid_length), calc_lateral_offset());
 
   RCLCPP_DEBUG(
     logger_, "Conditions ? %f, %f, %f", nearest_object.longitudinal, minimum_lane_change_length,
@@ -99,7 +102,7 @@ void AvoidanceByLaneChange::updateSpecialData()
   const auto p = std::dynamic_pointer_cast<AvoidanceParameters>(avoidance_parameters_);
 
   avoidance_debug_data_ = DebugData();
-  avoidance_data_ = calcAvoidancePlanningData(avoidance_debug_data_);
+  avoidance_data_ = calc_avoidance_planning_data(avoidance_debug_data_);
 
   if (avoidance_data_.target_objects.empty()) {
     direction_ = Direction::NONE;
@@ -120,7 +123,7 @@ void AvoidanceByLaneChange::updateSpecialData()
     [](auto a, auto b) { return a.longitudinal < b.longitudinal; });
 }
 
-AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData(
+AvoidancePlanningData AvoidanceByLaneChange::calc_avoidance_planning_data(
   AvoidanceDebugData & debug) const
 {
   AvoidancePlanningData data;
@@ -136,12 +139,12 @@ AvoidancePlanningData AvoidanceByLaneChange::calcAvoidancePlanningData(
 
   data.current_lanelets = getCurrentLanes();
 
-  fillAvoidanceTargetObjects(data, debug);
+  fill_avoidance_target_objects(data, debug);
 
   return data;
 }
 
-void AvoidanceByLaneChange::fillAvoidanceTargetObjects(
+void AvoidanceByLaneChange::fill_avoidance_target_objects(
   AvoidancePlanningData & data, [[maybe_unused]] DebugData & debug) const
 {
   const auto p = std::dynamic_pointer_cast<AvoidanceParameters>(avoidance_parameters_);
@@ -176,7 +179,7 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects(
   ObjectDataArray target_lane_objects;
   target_lane_objects.reserve(object_within_target_lane.objects.size());
   for (const auto & obj : object_within_target_lane.objects) {
-    const auto target_lane_object = createObjectData(data, obj);
+    const auto target_lane_object = create_object_data(data, obj);
     if (!target_lane_object) {
       continue;
     }
@@ -187,7 +190,7 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects(
   data.target_objects = target_lane_objects;
 }
 
-std::optional<ObjectData> AvoidanceByLaneChange::createObjectData(
+std::optional<ObjectData> AvoidanceByLaneChange::create_object_data(
   const AvoidancePlanningData & data, const PredictedObject & object) const
 {
   using boost::geometry::return_centroid;
@@ -252,7 +255,7 @@ std::optional<ObjectData> AvoidanceByLaneChange::createObjectData(
   return object_data;
 }
 
-double AvoidanceByLaneChange::calcMinAvoidanceLength(const ObjectData & nearest_object) const
+double AvoidanceByLaneChange::calc_min_avoidance_length(const ObjectData & nearest_object) const
 {
   const auto ego_width = getCommonParam().vehicle_width;
   const auto nearest_object_type =
@@ -273,7 +276,7 @@ double AvoidanceByLaneChange::calcMinAvoidanceLength(const ObjectData & nearest_
   return avoidance_helper_->getMinAvoidanceDistance(shift_length);
 }
 
-double AvoidanceByLaneChange::calcMinimumLaneChangeLength() const
+double AvoidanceByLaneChange::calc_minimum_lane_change_length() const
 {
   const auto current_lanes = getCurrentLanes();
   if (current_lanes.empty()) {
@@ -289,7 +292,7 @@ double AvoidanceByLaneChange::calcMinimumLaneChangeLength() const
     lane_change_parameters_->backward_length_buffer_for_end_of_lane);
 }
 
-double AvoidanceByLaneChange::calcLateralOffset() const
+double AvoidanceByLaneChange::calc_lateral_offset() const
 {
   auto additional_lat_offset{0.0};
   for (const auto & [type, p] : avoidance_parameters_->object_parameters) {