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feat(static_obstacle_avoidance): use planning factor #1726

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Dec 23, 2024
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feat(static_obstacle_avoidance): use planning factor #1726

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2 changes: 1 addition & 1 deletion ...idance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<StaticObstacleAvoidanceModule>(
name_, *node_, parameters_, rtc_interface_ptr_map_,
objects_of_interest_marker_interface_ptr_map_);
objects_of_interest_marker_interface_ptr_map_, planning_factor_interface_);
}

void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
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9 changes: 8 additions & 1 deletion ...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
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Expand Up @@ -46,7 +46,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
objects_of_interest_marker_interface_ptr_map);
objects_of_interest_marker_interface_ptr_map,
const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface);

CandidateOutput planCandidate() const override;
BehaviorModuleOutput plan() override;
Expand Down Expand Up @@ -134,6 +135,9 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
steering_factor_interface_.set(
{left_shift.start_pose, left_shift.finish_pose}, {start_distance, finish_distance},
SteeringFactor::LEFT, SteeringFactor::TURNING, "");
planning_factor_interface_->add(
start_distance, finish_distance, left_shift.start_pose, left_shift.finish_pose,
PlanningFactor::SHIFT_LEFT, SafetyFactorArray{});
}
}

Expand All @@ -154,6 +158,9 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
steering_factor_interface_.set(
{right_shift.start_pose, right_shift.finish_pose}, {start_distance, finish_distance},
SteeringFactor::RIGHT, SteeringFactor::TURNING, "");
planning_factor_interface_->add(
start_distance, finish_distance, right_shift.start_pose, right_shift.finish_pose,
PlanningFactor::SHIFT_RIGHT, SafetyFactorArray{});
}
}
}
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14 changes: 12 additions & 2 deletions ...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
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Expand Up @@ -79,8 +79,9 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule(
const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
objects_of_interest_marker_interface_ptr_map)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT
objects_of_interest_marker_interface_ptr_map,
const std::shared_ptr<PlanningFactorInterface> & planning_factor_interface)
: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, planning_factor_interface}, // NOLINT
helper_{std::make_shared<AvoidanceHelper>(parameters)},
parameters_{parameters},
generator_{parameters}
Expand Down Expand Up @@ -780,6 +781,8 @@ void StaticObstacleAvoidanceModule::updateEgoBehavior(

insertReturnDeadLine(isBestEffort(parameters_->policy_deceleration), path);

set_longitudinal_planning_factor(path.path);

setVelocityFactor(path.path);
}

Expand Down Expand Up @@ -1221,6 +1224,13 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const
{output.start_distance_to_path_change, output.finish_distance_to_path_change},
steering_factor_direction, SteeringFactor::APPROACHING, "");

const uint16_t planning_factor_direction = std::invoke([&output]() {
return output.lateral_shift > 0.0 ? PlanningFactor::SHIFT_LEFT : PlanningFactor::SHIFT_RIGHT;
});
planning_factor_interface_->add(
output.start_distance_to_path_change, output.finish_distance_to_path_change, sl_front.start,
sl_back.end, planning_factor_direction, SafetyFactorArray{}, true, 0.0, output.lateral_shift);

output.path_candidate = shifted_path.path;
return output;
}
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