refactor(goal_planner): refactoring plan flow and add post process

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Nov 10, 2023 · 5b18bf3 · 5b18bf3
1 parent 504d1ae
commit 5b18bf3
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Showing 2 changed files with 125 additions and 149 deletions.
diff --git a/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -287,18 +287,19 @@ class GoalPlannerModule : public SceneModuleInterface
     }
   }
 
-  CandidateOutput planCandidate() const override;
   BehaviorModuleOutput plan() override;
   BehaviorModuleOutput planWaitingApproval() override;
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;
   void processOnExit() override;
   void updateData() override;
+  void postProcess() override;
   void setParameters(const std::shared_ptr<GoalPlannerParameters> & parameters);
   void acceptVisitor(
     [[maybe_unused]] const std::shared_ptr<SceneModuleVisitor> & visitor) const override
   {
   }
+  CandidateOutput planCandidate() const override { return CandidateOutput{}; }
 
 private:
   // The start_planner activates when it receives a new route,
@@ -411,8 +412,9 @@ class GoalPlannerModule : public SceneModuleInterface
   void returnToLaneParking();
 
   // plan pull over path
-  BehaviorModuleOutput planWithGoalModification();
-  BehaviorModuleOutput planWaitingApprovalWithGoalModification();
+  BehaviorModuleOutput planRunning();
+  BehaviorModuleOutput planPullOver();
+  BehaviorModuleOutput planPullOverAsCandidate();
   void selectSafePullOverPath();
   std::vector<PullOverPath> sortPullOverPathCandidatesByGoalPriority(
     const std::vector<PullOverPath> & pull_over_path_candidates,