From 43be3438d56e245241e6896d4de5fe9734564985 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Thu, 20 Jun 2024 14:40:52 +0900
Subject: [PATCH] refactor(behavior_velocity_intersection): apply clang-tidy
 check (#7552)

intersection

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
---
 .../src/scene_intersection_collision.cpp              |  4 +++-
 .../utilization/util.hpp                              | 11 +----------
 .../src/utilization/util.cpp                          | 11 +++++++++++
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
index 739b1122be6a1..906d39a9b127f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
@@ -265,7 +265,9 @@ void IntersectionModule::updateObjectInfoManagerCollision(
         continue;
       }
       const auto & object_passage_interval = object_passage_interval_opt.value();
-      const auto [object_enter_time, object_exit_time] = object_passage_interval.interval_time;
+      const auto object_enter_exit_time = object_passage_interval.interval_time;
+      const auto object_enter_time = std::get<0>(object_enter_exit_time);
+      const auto object_exit_time = std::get<1>(object_enter_exit_time);
       const auto ego_start_itr = std::lower_bound(
         time_distance_array.begin(), time_distance_array.end(),
         object_enter_time - collision_start_margin_time,
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
index 591a30928fd09..5f1c17ea1b815 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
@@ -228,17 +228,8 @@ std::set<lanelet::Id> getAssociativeIntersectionLanelets(
   lanelet::ConstLanelet lane, const lanelet::LaneletMapPtr lanelet_map,
   const lanelet::routing::RoutingGraphPtr routing_graph);
 
-template <template <class> class Container>
 lanelet::ConstLanelets getConstLaneletsFromIds(
-  lanelet::LaneletMapConstPtr map, const Container<lanelet::Id> & ids)
-{
-  lanelet::ConstLanelets ret{};
-  for (const auto & id : ids) {
-    const auto ll = map->laneletLayer.get(id);
-    ret.push_back(ll);
-  }
-  return ret;
-}
+  lanelet::LaneletMapConstPtr map, const std::set<lanelet::Id> & ids);
 
 }  // namespace planning_utils
 }  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
index 89aac01c716a6..c08a4878dd4a7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
@@ -701,5 +701,16 @@ std::set<lanelet::Id> getAssociativeIntersectionLanelets(
   return associative_intersection_lanelets;
 }
 
+lanelet::ConstLanelets getConstLaneletsFromIds(
+  lanelet::LaneletMapConstPtr map, const std::set<lanelet::Id> & ids)
+{
+  lanelet::ConstLanelets ret{};
+  for (const auto & id : ids) {
+    const auto ll = map->laneletLayer.get(id);
+    ret.push_back(ll);
+  }
+  return ret;
+}
+
 }  // namespace planning_utils
 }  // namespace autoware::behavior_velocity_planner