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feat(goal_planner): add getBusStopAreaPolygons #8794

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merged 2 commits into from
Sep 9, 2024
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feat(goal_planner): add getBusStopAreaPolygons #8794

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95ba51d
feat(map_loader): visualize BusStopArea
soblin Sep 4, 2024
d89459c
feat(goal_planner): add getBusStopArea function
soblin Sep 6, 2024
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1 change: 1 addition & 0 deletions ..._goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ class GoalSearcher : public GoalSearcherBase
const std::shared_ptr<const PlannerData> & planner_data) const;
BasicPolygons2d getNoParkingAreaPolygons(const lanelet::ConstLanelets & lanes) const;
BasicPolygons2d getNoStoppingAreaPolygons(const lanelet::ConstLanelets & lanes) const;
BasicPolygons2d getBusStopAreaPolygons(const lanelet::ConstLanelets & lanes) const;
bool isInAreas(const LinearRing2d & footprint, const BasicPolygons2d & areas) const;

LinearRing2d vehicle_footprint_{};
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14 changes: 14 additions & 0 deletions ...ng/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp
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@@ -1,4 +1,4 @@
// Copyright 2022 TIER IV, Inc.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 4.87 to 4.75, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -19,8 +19,10 @@
#include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
#include "autoware/behavior_path_planner_common/utils/utils.hpp"
#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
#include "autoware_lanelet2_extension/regulatory_elements/bus_stop_area.hpp"
#include "autoware_lanelet2_extension/regulatory_elements/no_parking_area.hpp"
#include "autoware_lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
#include "autoware_lanelet2_extension/utility/query.hpp"
#include "autoware_lanelet2_extension/utility/utilities.hpp"

#include <boost/geometry/algorithms/union.hpp>
Expand Down Expand Up @@ -490,6 +492,18 @@
return area_polygons;
}

BasicPolygons2d GoalSearcher::getBusStopAreaPolygons(const lanelet::ConstLanelets & lanes) const

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp#L495 

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{
BasicPolygons2d area_polygons{};

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for (const auto & bus_stop_area_reg_elem : lanelet::utils::query::busStopAreas(lanes)) {
for (const auto & area : bus_stop_area_reg_elem->busStopAreas()) {
const auto & area_poly = lanelet::utils::to2D(area).basicPolygon();
area_polygons.push_back(area_poly);

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp#L500-L501 

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}
}
return area_polygons;

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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp#L504 

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}

bool GoalSearcher::isInAreas(const LinearRing2d & footprint, const BasicPolygons2d & areas) const
{
for (const auto & area : areas) {
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