refactor(bpp): simplify extended predicted object initialization (#6858)

* refactor(bpp): simplify extended predicted object initialization Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp Co-authored-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Apr 23, 2024 · 5a6cde9 · 5a6cde9
1 parent 702b183
commit 5a6cde9
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Showing 3 changed files with 14 additions and 13 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp
@@ -1112,12 +1112,7 @@ ExtendedPredictedObject transform(
   [[maybe_unused]] const BehaviorPathPlannerParameters & common_parameters,
   const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase)
 {
-  ExtendedPredictedObject extended_object;
-  extended_object.uuid = object.object_id;
-  extended_object.initial_pose = object.kinematics.initial_pose_with_covariance;
-  extended_object.initial_twist = object.kinematics.initial_twist_with_covariance;
-  extended_object.initial_acceleration = object.kinematics.initial_acceleration_with_covariance;
-  extended_object.shape = object.shape;
+  ExtendedPredictedObject extended_object(object);
 
   const auto & time_resolution = lane_change_parameters.prediction_time_resolution;
   const auto & prepare_duration = lane_change_parameters.lane_change_prepare_duration;

diff --git a/...behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp b/...behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp
@@ -31,6 +31,7 @@
 namespace behavior_path_planner::utils::path_safety_checker
 {
 
+using autoware_auto_perception_msgs::msg::PredictedObject;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
 using tier4_autoware_utils::Polygon2d;
@@ -79,6 +80,17 @@ struct ExtendedPredictedObject
   autoware_auto_perception_msgs::msg::Shape shape;
   std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
   std::vector<PredictedPathWithPolygon> predicted_paths;
+
+  ExtendedPredictedObject() = default;
+  explicit ExtendedPredictedObject(const PredictedObject & object)
+  : uuid(object.object_id),
+    initial_pose(object.kinematics.initial_pose_with_covariance),
+    initial_twist(object.kinematics.initial_twist_with_covariance),
+    initial_acceleration(object.kinematics.initial_acceleration_with_covariance),
+    shape(object.shape),
+    classification(object.classification)
+  {
+  }
 };
 using ExtendedPredictedObjects = std::vector<ExtendedPredictedObject>;
 

diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
@@ -289,13 +289,7 @@ ExtendedPredictedObject transform(
   const PredictedObject & object, const double safety_check_time_horizon,
   const double safety_check_time_resolution)
 {
-  ExtendedPredictedObject extended_object;
-  extended_object.uuid = object.object_id;
-  extended_object.initial_pose = object.kinematics.initial_pose_with_covariance;
-  extended_object.initial_twist = object.kinematics.initial_twist_with_covariance;
-  extended_object.initial_acceleration = object.kinematics.initial_acceleration_with_covariance;
-  extended_object.shape = object.shape;
-  extended_object.classification = object.classification;
+  ExtendedPredictedObject extended_object(object);
 
   const auto obj_velocity = extended_object.initial_twist.twist.linear.x;