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feat(start_planner): use planning factor #1730

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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface
{
return std::make_unique<StartPlannerModule>(
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;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,8 @@ class StartPlannerModule : public SceneModuleInterface
const std::shared_ptr<StartPlannerParameters> & 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);

~StartPlannerModule() override
{
Expand Down Expand Up @@ -215,6 +216,21 @@ class StartPlannerModule : public SceneModuleInterface
}
};

uint16_t getPlanningFactorDirection(
const autoware::behavior_path_planner::BehaviorModuleOutput & output) const
{
switch (output.turn_signal_info.turn_signal.command) {
case TurnIndicatorsCommand::ENABLE_LEFT:
return PlanningFactor::SHIFT_LEFT;

case TurnIndicatorsCommand::ENABLE_RIGHT:
return PlanningFactor::SHIFT_RIGHT;

default:
return PlanningFactor::NONE;
}
};

/**
* @brief Check if there are no moving objects around within a certain radius.
*
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,9 @@ StartPlannerModule::StartPlannerModule(
const std::shared_ptr<StartPlannerParameters> & 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
parameters_{parameters},
vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
is_freespace_planner_cb_running_{false}
Expand Down Expand Up @@ -745,7 +746,10 @@ BehaviorModuleOutput StartPlannerModule::plan()

setVelocityFactor(output.path);

set_longitudinal_planning_factor(output.path);

const auto steering_factor_direction = getSteeringFactorDirection(output);
const auto planning_factor_direction = getPlanningFactorDirection(output);

if (status_.driving_forward) {
const double start_distance = autoware::motion_utils::calcSignedArcLength(
Expand All @@ -758,6 +762,9 @@ BehaviorModuleOutput StartPlannerModule::plan()
steering_factor_interface_.set(
{status_.pull_out_path.start_pose, status_.pull_out_path.end_pose},
{start_distance, finish_distance}, steering_factor_direction, SteeringFactor::TURNING, "");
planning_factor_interface_->add(
start_distance, finish_distance, status_.pull_out_path.start_pose,
status_.pull_out_path.end_pose, planning_factor_direction, SafetyFactorArray{});
setDebugData();
return output;
}
Expand All @@ -768,6 +775,9 @@ BehaviorModuleOutput StartPlannerModule::plan()
steering_factor_interface_.set(
{status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance},
steering_factor_direction, SteeringFactor::TURNING, "");
planning_factor_interface_->add(
0.0, distance, status_.pull_out_path.start_pose, status_.pull_out_path.end_pose,
planning_factor_direction, SafetyFactorArray{});

setDebugData();

Expand Down Expand Up @@ -851,6 +861,7 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
setDrivableAreaInfo(output);

const auto steering_factor_direction = getSteeringFactorDirection(output);
const auto planning_factor_direction = getPlanningFactorDirection(output);

if (status_.driving_forward) {
const double start_distance = autoware::motion_utils::calcSignedArcLength(
Expand All @@ -864,6 +875,9 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
{status_.pull_out_path.start_pose, status_.pull_out_path.end_pose},
{start_distance, finish_distance}, steering_factor_direction, SteeringFactor::APPROACHING,
"");
planning_factor_interface_->add(
start_distance, finish_distance, status_.pull_out_path.start_pose,
status_.pull_out_path.end_pose, planning_factor_direction, SafetyFactorArray{});
setDebugData();

return output;
Expand All @@ -875,6 +889,9 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
steering_factor_interface_.set(
{status_.pull_out_path.start_pose, status_.pull_out_path.end_pose}, {0.0, distance},
steering_factor_direction, SteeringFactor::APPROACHING, "");
planning_factor_interface_->add(
0.0, distance, status_.pull_out_path.start_pose, status_.pull_out_path.end_pose,
planning_factor_direction, SafetyFactorArray{});

setDebugData();

Expand Down
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