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refactor(virtual_traffic_light): move to utils for unit test (#9106)
Signed-off-by: kosuke55 <[email protected]>
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123 changes: 123 additions & 0 deletions
123
...or_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/utils.cpp
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| // Copyright 2024 Tier IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "utils.hpp" | ||
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| #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp> | ||
| #include <autoware/behavior_velocity_planner_common/utilization/util.hpp> | ||
| #include <autoware/motion_utils/trajectory/trajectory.hpp> | ||
| #include <autoware/universe_utils/geometry/geometry.hpp> | ||
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| #include <limits> | ||
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| namespace autoware::behavior_velocity_planner::virtual_traffic_light | ||
| { | ||
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| using autoware::universe_utils::calcDistance2d; | ||
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| tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std::string & value) | ||
| { | ||
| return tier4_v2x_msgs::build<tier4_v2x_msgs::msg::KeyValue>().key(key).value(value); | ||
| } | ||
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| autoware::universe_utils::LineString3d toAutowarePoints( | ||
| const lanelet::ConstLineString3d & line_string) | ||
| { | ||
| autoware::universe_utils::LineString3d output; | ||
| for (const auto & p : line_string) { | ||
| output.emplace_back(p.x(), p.y(), p.z()); | ||
| } | ||
| return output; | ||
| } | ||
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| std::optional<autoware::universe_utils::LineString3d> toAutowarePoints( | ||
| const lanelet::Optional<lanelet::ConstLineString3d> & line_string) | ||
| { | ||
| if (!line_string) { | ||
| return {}; | ||
| } | ||
| return toAutowarePoints(*line_string); | ||
| } | ||
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| std::vector<autoware::universe_utils::LineString3d> toAutowarePoints( | ||
| const lanelet::ConstLineStrings3d & line_strings) | ||
| { | ||
| std::vector<autoware::universe_utils::LineString3d> output; | ||
| for (const auto & line_string : line_strings) { | ||
| output.emplace_back(toAutowarePoints(line_string)); | ||
| } | ||
| return output; | ||
| } | ||
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| autoware::universe_utils::Point3d calcCenter( | ||
| const autoware::universe_utils::LineString3d & line_string) | ||
| { | ||
| const auto p1 = line_string.front(); | ||
| const auto p2 = line_string.back(); | ||
| const auto p_center = (p1 + p2) / 2; | ||
| return {p_center.x(), p_center.y(), p_center.z()}; | ||
| } | ||
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| geometry_msgs::msg::Pose calcHeadPose( | ||
| const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front) | ||
| { | ||
| return autoware::universe_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0); | ||
| } | ||
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| geometry_msgs::msg::Point convertToGeomPoint(const autoware::universe_utils::Point3d & p) | ||
| { | ||
| geometry_msgs::msg::Point geom_p; | ||
| geom_p.x = p.x(); | ||
| geom_p.y = p.y(); | ||
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| return geom_p; | ||
| } | ||
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| void insertStopVelocityFromStart(tier4_planning_msgs::msg::PathWithLaneId * path) | ||
| { | ||
| for (auto & p : path->points) { | ||
| p.point.longitudinal_velocity_mps = 0.0; | ||
| } | ||
| } | ||
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| std::optional<size_t> insertStopVelocityAtCollision( | ||
| const SegmentIndexWithPoint & collision, const double offset, | ||
| tier4_planning_msgs::msg::PathWithLaneId * path) | ||
| { | ||
| const auto collision_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( | ||
| path->points, collision.index, collision.point); | ||
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| const auto offset_segment = | ||
| arc_lane_utils::findOffsetSegment(*path, collision.index, offset + collision_offset); | ||
| if (!offset_segment) { | ||
| return {}; | ||
| } | ||
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| const auto interpolated_pose = arc_lane_utils::calcTargetPose(*path, *offset_segment); | ||
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| if (offset_segment->second < 0) { | ||
| insertStopVelocityFromStart(path); | ||
| return 0; | ||
| } | ||
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| auto insert_index = static_cast<size_t>(offset_segment->first + 1); | ||
| auto insert_point = path->points.at(insert_index); | ||
| insert_point.point.pose = interpolated_pose; | ||
| // Insert 0 velocity after stop point or replace velocity with 0 | ||
| autoware::behavior_velocity_planner::planning_utils::insertVelocity( | ||
| *path, insert_point, 0.0, insert_index); | ||
| return insert_index; | ||
| } | ||
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| } // namespace autoware::behavior_velocity_planner::virtual_traffic_light |
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