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feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor #9927

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feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor #9927

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@soblin soblin commented Jan 15, 2025 •
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Description

remove velocity_factor / steering_factor and replace them with planning_factor.

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Parent Issue:

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How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Jan 15, 2025
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github-actions bot commented Jan 15, 2025 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

satoshi-ota and others added 20 commits January 15, 2025 20:05
@satoshi-ota @soblin
feat(lane_change): use planning factor (#1727)
1dcbb4e 
* feat(lane_change): use planning factor

Signed-off-by: satoshi-ota <[email protected]>

* feat(external_request_lane_change): use planning factor

Signed-off-by: satoshi-ota <[email protected]>

* feat(AbLC): use planning factor

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
feat(bpp-intersection): use planning factor (#1728)
daf60c1 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
feat(goal_planner): use planning factor (#1731)
bbac8f3 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
feat(start_planner): use planning factor (#1730)
9f02a13 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
feat(dynamic_obstacle_avoidace, side_shift, sampling_planner): use pl…
7ff3085 
…anning factor (#1729)

* feat(dynamic_obstacle_avoidance): use planning factor

Signed-off-by: satoshi-ota <[email protected]>

* feat(sampling_planner): use planning factor

Signed-off-by: satoshi-ota <[email protected]>

* feat(side_shift): use planning factor

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
feat(dynamic_obstacle_stop): output planning factor interface (#1732)
2e51216 
* feat(motion_velocity_planner): use planning factor interface

Signed-off-by: satoshi-ota <[email protected]>

* feat(dynamic_obstacle_stop): output planning factor interface

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
feat(out_of_lane): use planning factor (#1733)
d56318f 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(default_adapi): subscribe planning factor (#1734)
1cd9606 
* fix(default_adapi): subscribe planning factor

Signed-off-by: satoshi-ota <[email protected]>

* fix: conversion

Signed-off-by: satoshi-ota <[email protected]>

* fix: fill status automatically

Signed-off-by: satoshi-ota <[email protected]>

* fix: add missing topic

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(motion_velocity_planner)!: remove velocity factor (#1738)
6d115ac 
* fix(dynamic_obstacle_stop): remove velocity factor

Signed-off-by: satoshi-ota <[email protected]>

* fix(obstacle_velocity_limiter): remove velocity factor

Signed-off-by: satoshi-ota <[email protected]>

* fix(out_of_lane): remove velocity factor

Signed-off-by: satoshi-ota <[email protected]>

* fix(motion_velocity_planner): remove velocity factor

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(lane_change): remove velocity factor (#1741)
ba197d4 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(goal_planner): remove velocity factor (#1739)
8b4624c 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(static_obstacle_avoidance): remove velocity factor (#1740)
f0d60e1 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(surround_obstacle_checker)!: remove velocity factor (#1737)
11609b2 
fix(surround_obstacle_checker): remove velocity factor

Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(start_planner): remove velocity factor (#1742)
319e75c 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(behavior_path_planner): remove velocity factor (#1746)
f5c7e90 
Signed-off-by: satoshi-ota <[email protected]>
@satoshi-ota @soblin
fix(obstacle_cruise_planner): remove velocity factor (#1747)
34289a7 
Signed-off-by: satoshi-ota <[email protected]>
@soblin
add planning_factor_interface to behavior_velocity_planner
07c479a 
Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
add planning_factor_interface to behavior_velocity_planner_run_out (#…
e5c74e2 
…1759)

Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
Feat/development branch planning factor bvp crosswalk (#1760)
3c66f6f 
add planning_factor_interface to behavior_velocity_planner_crosswalk

Signed-off-by: Mamoru Sobue <[email protected]>
@soblin
add planning_factor_interface to behavior_velocity_planner_intersecti…
6b69544 
…ons (#1765)

Signed-off-by: Mamoru Sobue <[email protected]>
@soblin soblin force-pushed the feat/development-branch-planning-factor branch from a1a35ea to 6b69544 Compare January 15, 2025 11:06
@soblin soblin changed the title feat!(planning_factor): remove velocity_factor, steering_factor and introduce planning_factor feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor Jan 15, 2025
@soblin soblin added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 15, 2025
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codecov bot commented Jan 15, 2025

Codecov Report

Attention: Patch coverage is 17.46575% with 241 lines in your changes missing coverage. Please review.

Project coverage is 29.27%. Comparing base (b69241f) to head (6b69544).

Files with missing lines Patch % Lines
...ity_intersection_module/src/scene_intersection.cpp 0.00% 52 Missing ⚠️
system/autoware_default_adapi/src/planning.cpp 20.00% 45 Missing and 3 partials ⚠️
..._start_planner_module/src/start_planner_module.cpp 0.00% 14 Missing ⚠️
...behavior_path_lane_change_module/src/interface.cpp 0.00% 13 Missing ⚠️
...lanner_common/interface/scene_module_interface.hpp 0.00% 7 Missing ⚠️
..._obstacle_cruise_planner/src/planner_interface.cpp 0.00% 6 Missing ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp 0.00% 6 Missing ⚠️
...or_path_static_obstacle_avoidance_module/scene.hpp 0.00% 6 Missing ⚠️
...avior_velocity_blind_spot_module/src/decisions.cpp 0.00% 6 Missing ⚠️
..._velocity_crosswalk_module/src/scene_crosswalk.cpp 0.00% 6 Missing ⚠️
... and 37 more
Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #9927      +/-   ##
==========================================
+ Coverage   29.22%   29.27%   +0.04%     
==========================================
  Files        1425     1428       +3     
  Lines      107731   107831     +100     
  Branches    42198    42249      +51     
==========================================
+ Hits        31488    31566      +78     
- Misses      73197    73212      +15     
- Partials     3046     3053       +7
Flag Coverage Δ *Carryforward flag
differential 31.09% <17.46%> (?)
total 29.24% <ø> (+0.01%) ⬆️ Carriedforward from b69241f

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
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component:planning Route planning, decision-making, and navigation. (auto-assigned) component:system System design and integration. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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