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Merge pull request #1312 from tier4/cherry-pick/pr7146
chore(blind_spot): PR7110 and PR7164
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154
planning/behavior_velocity_blind_spot_module/src/decisions.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 "scene.hpp" | ||
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| #include <motion_utils/trajectory/trajectory.hpp> | ||
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| namespace behavior_velocity_planner | ||
| { | ||
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| /* | ||
| * for default | ||
| */ | ||
| template <typename T> | ||
| void BlindSpotModule::setRTCStatusByDecision( | ||
| const T &, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) | ||
| { | ||
| static_assert("Unsupported type passed to setRTCStatus"); | ||
| return; | ||
| } | ||
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| template <typename T> | ||
| void BlindSpotModule::reactRTCApprovalByDecision( | ||
| [[maybe_unused]] const T & decision, | ||
| [[maybe_unused]] autoware_auto_planning_msgs::msg::PathWithLaneId * path, | ||
| [[maybe_unused]] StopReason * stop_reason) | ||
| { | ||
| static_assert("Unsupported type passed to reactRTCApprovalByDecision"); | ||
| } | ||
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| /* | ||
| * for InternalError | ||
| */ | ||
| template <> | ||
| void BlindSpotModule::setRTCStatusByDecision( | ||
| [[maybe_unused]] const InternalError & decision, | ||
| [[maybe_unused]] const autoware_auto_planning_msgs::msg::PathWithLaneId & path) | ||
| { | ||
| return; | ||
| } | ||
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| template <> | ||
| void BlindSpotModule::reactRTCApprovalByDecision( | ||
| [[maybe_unused]] const InternalError & decision, | ||
| [[maybe_unused]] autoware_auto_planning_msgs::msg::PathWithLaneId * path, | ||
| [[maybe_unused]] StopReason * stop_reason) | ||
| { | ||
| return; | ||
| } | ||
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| /* | ||
| * For OverPassJudge | ||
| */ | ||
| template <> | ||
| void BlindSpotModule::setRTCStatusByDecision( | ||
| [[maybe_unused]] const OverPassJudge & decision, | ||
| [[maybe_unused]] const autoware_auto_planning_msgs::msg::PathWithLaneId & path) | ||
| { | ||
| return; | ||
| } | ||
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| template <> | ||
| void BlindSpotModule::reactRTCApprovalByDecision( | ||
| [[maybe_unused]] const OverPassJudge & decision, | ||
| [[maybe_unused]] autoware_auto_planning_msgs::msg::PathWithLaneId * path, | ||
| [[maybe_unused]] StopReason * stop_reason) | ||
| { | ||
| return; | ||
| } | ||
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| /* | ||
| * for Unsafe | ||
| */ | ||
| template <> | ||
| void BlindSpotModule::setRTCStatusByDecision( | ||
| const Unsafe & decision, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) | ||
| { | ||
| setSafe(false); | ||
| const auto & current_pose = planner_data_->current_odometry->pose; | ||
| setDistance( | ||
| motion_utils::calcSignedArcLength(path.points, current_pose.position, decision.stop_line_idx)); | ||
| return; | ||
| } | ||
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| template <> | ||
| void BlindSpotModule::reactRTCApprovalByDecision( | ||
| const Unsafe & decision, autoware_auto_planning_msgs::msg::PathWithLaneId * path, | ||
| StopReason * stop_reason) | ||
| { | ||
| if (!isActivated()) { | ||
| constexpr double stop_vel = 0.0; | ||
| planning_utils::setVelocityFromIndex(decision.stop_line_idx, stop_vel, path); | ||
| debug_data_.virtual_wall_pose = planning_utils::getAheadPose( | ||
| decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); | ||
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| tier4_planning_msgs::msg::StopFactor stop_factor; | ||
| const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; | ||
| stop_factor.stop_pose = stop_pose; | ||
| stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); | ||
| planning_utils::appendStopReason(stop_factor, stop_reason); | ||
| velocity_factor_.set( | ||
| path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); | ||
| } | ||
| return; | ||
| } | ||
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| /* | ||
| * for Safe | ||
| */ | ||
| template <> | ||
| void BlindSpotModule::setRTCStatusByDecision( | ||
| const Safe & decision, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) | ||
| { | ||
| setSafe(true); | ||
| const auto & current_pose = planner_data_->current_odometry->pose; | ||
| setDistance( | ||
| motion_utils::calcSignedArcLength(path.points, current_pose.position, decision.stop_line_idx)); | ||
| return; | ||
| } | ||
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| template <> | ||
| void BlindSpotModule::reactRTCApprovalByDecision( | ||
| const Safe & decision, autoware_auto_planning_msgs::msg::PathWithLaneId * path, | ||
| StopReason * stop_reason) | ||
| { | ||
| if (!isActivated()) { | ||
| constexpr double stop_vel = 0.0; | ||
| planning_utils::setVelocityFromIndex(decision.stop_line_idx, stop_vel, path); | ||
| debug_data_.virtual_wall_pose = planning_utils::getAheadPose( | ||
| decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); | ||
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| tier4_planning_msgs::msg::StopFactor stop_factor; | ||
| const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; | ||
| stop_factor.stop_pose = stop_pose; | ||
| stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); | ||
| planning_utils::appendStopReason(stop_factor, stop_reason); | ||
| velocity_factor_.set( | ||
| path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); | ||
| } | ||
| return; | ||
| } | ||
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| } // namespace behavior_velocity_planner |
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