refactor(lane_change): separate path-related function to utils/path #9633

zulfaqar-azmi-t4 · 2024-12-12T07:52:37Z

Description

Move candidate path generator/constructor-related function to utils/path.hpp/cpp.

If we planning on adding new path generation functions, utils.hpp/cpp file might be overcrowded. So for maintainability purpose, it is better to isolate these functions.

How was this PR tested?

TIER IV Internal link

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-12-12T07:52:57Z

Thank you for contributing to the Autoware project!

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

Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

...or_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp

...ior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp

...or_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp

mkquda

LGTM.

codecov · 2024-12-23T05:26:10Z

Codecov Report

Attention: Patch coverage is 60.94675% with 66 lines in your changes missing coverage. Please review.

Project coverage is 29.74%. Comparing base (ca3afdd) to head (8ecae27).
Report is 7 commits behind head on main.

Files with missing lines	Patch %	Lines
...ehavior_path_lane_change_module/src/utils/path.cpp	74.13%	16 Missing and 14 partials ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	25.00%	20 Missing and 1 partial ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	37.50%	14 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9633      +/-   ##
==========================================
+ Coverage   29.73%   29.74%   +0.01%     
==========================================
  Files        1448     1451       +3     
  Lines      108886   108805      -81     
  Branches    42746    42689      -57     
==========================================
- Hits        32377    32368       -9     
+ Misses      73325    73259      -66     
+ Partials     3184     3178       -6

Flag	Coverage Δ		*Carryforward flag
differential	`20.98% <60.94%> (?)`
total	`29.69% <ø> (-0.04%)`	⬇️	Carriedforward from ca3afdd

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp

Signed-off-by: Zulfaqar Azmi <[email protected]>

…utowarefoundation#9633) * refactor(lane_change): separate path-related function to utils/path Signed-off-by: Zulfaqar Azmi <[email protected]> * remove old terminal lane change computation Signed-off-by: Zulfaqar Azmi <[email protected]> * doxygen comments Signed-off-by: Zulfaqar Azmi <[email protected]> * remove frenet planner header Signed-off-by: Zulfaqar Azmi <[email protected]> * minor refactoring by throwing instead Signed-off-by: Zulfaqar Azmi <[email protected]> * minor refactoring Signed-off-by: Zulfaqar Azmi <[email protected]> * fix docstring and remove redundant argument Signed-off-by: Zulfaqar Azmi <[email protected]> * get logger in header Signed-off-by: Zulfaqar Azmi <[email protected]> * add docstring Signed-off-by: Zulfaqar Azmi <[email protected]> * rename function is_colliding Signed-off-by: Zulfaqar Azmi <[email protected]> * Fix failing test Signed-off-by: Zulfaqar Azmi <[email protected]> * fix for failing scenario caused by prepare velocity Signed-off-by: Zulfaqar Azmi <[email protected]> * fix error message Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Dec 12, 2024

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 0ac30be to 43e731e Compare December 12, 2024 08:57

zulfaqar-azmi-t4 marked this pull request as ready for review December 12, 2024 14:27

zulfaqar-azmi-t4 requested review from mkquda, rej55, kosuke55, maxime-clem, satoshi-ota, shmpwk, TomohitoAndo and tkimura4 as code owners December 12, 2024 14:27

zulfaqar-azmi-t4 marked this pull request as draft December 13, 2024 01:57

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 43e731e to 007cef7 Compare December 13, 2024 07:45

zulfaqar-azmi-t4 marked this pull request as ready for review December 16, 2024 05:23

mkquda reviewed Dec 16, 2024

View reviewed changes

...or_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp Show resolved Hide resolved

mkquda reviewed Dec 17, 2024

View reviewed changes

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 007cef7 to df1ff38 Compare December 17, 2024 02:30

zulfaqar-azmi-t4 assigned maxime-clem and mkquda Dec 17, 2024

zulfaqar-azmi-t4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 17, 2024

maxime-clem reviewed Dec 18, 2024

View reviewed changes

...ior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp Outdated Show resolved Hide resolved

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from cf4a8af to 5e0df14 Compare December 19, 2024 07:10

zulfaqar-azmi-t4 requested review from mkquda and maxime-clem December 20, 2024 01:47

maxime-clem reviewed Dec 20, 2024

View reviewed changes

...or_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp Outdated Show resolved Hide resolved

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Show resolved Hide resolved

mkquda approved these changes Dec 20, 2024

View reviewed changes

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 9ec1bf6 to 2647334 Compare December 23, 2024 00:40

maxime-clem approved these changes Dec 23, 2024

View reviewed changes

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 2647334 to bfce3dd Compare December 23, 2024 04:25

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 6e58c56 to 30d68eb Compare December 23, 2024 08:36

mkquda reviewed Dec 24, 2024

View reviewed changes

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/path.cpp Outdated Show resolved Hide resolved

zulfaqar-azmi-t4 added 13 commits December 24, 2024 12:19

refactor(lane_change): separate path-related function to utils/path

c5889c5

Signed-off-by: Zulfaqar Azmi <[email protected]>

remove old terminal lane change computation

a77f2ff

Signed-off-by: Zulfaqar Azmi <[email protected]>

doxygen comments

9d6847a

Signed-off-by: Zulfaqar Azmi <[email protected]>

remove frenet planner header

88939d7

Signed-off-by: Zulfaqar Azmi <[email protected]>

minor refactoring by throwing instead

8ecf968

Signed-off-by: Zulfaqar Azmi <[email protected]>

minor refactoring

141e115

Signed-off-by: Zulfaqar Azmi <[email protected]>

fix docstring and remove redundant argument

96e080b

Signed-off-by: Zulfaqar Azmi <[email protected]>

get logger in header

f4cfba8

Signed-off-by: Zulfaqar Azmi <[email protected]>

add docstring

1ec3a7a

Signed-off-by: Zulfaqar Azmi <[email protected]>

rename function is_colliding

bf6ab53

Signed-off-by: Zulfaqar Azmi <[email protected]>

Fix failing test

436ab96

Signed-off-by: Zulfaqar Azmi <[email protected]>

fix for failing scenario caused by prepare velocity

c0e4a1a

Signed-off-by: Zulfaqar Azmi <[email protected]>

fix error message

8ecae27

Signed-off-by: Zulfaqar Azmi <[email protected]>

zulfaqar-azmi-t4 force-pushed the refactor-lc-path-utils branch from 1005f52 to 8ecae27 Compare December 24, 2024 03:19

zulfaqar-azmi-t4 enabled auto-merge (squash) December 24, 2024 03:21

zulfaqar-azmi-t4 merged commit 5fa0141 into autowarefoundation:main Dec 24, 2024
34 of 35 checks passed

zulfaqar-azmi-t4 deleted the refactor-lc-path-utils branch December 24, 2024 04:05

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

refactor(lane_change): separate path-related function to utils/path #9633

refactor(lane_change): separate path-related function to utils/path #9633

zulfaqar-azmi-t4 commented Dec 12, 2024 •

edited

Loading

github-actions bot commented Dec 12, 2024 •

edited

Loading

mkquda left a comment

codecov bot commented Dec 23, 2024 •

edited

Loading

refactor(lane_change): separate path-related function to utils/path #9633

refactor(lane_change): separate path-related function to utils/path #9633

Conversation

zulfaqar-azmi-t4 commented Dec 12, 2024 • edited Loading

Description

Related links

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Dec 12, 2024 • edited Loading

mkquda left a comment

Choose a reason for hiding this comment

codecov bot commented Dec 23, 2024 • edited Loading

Codecov Report

zulfaqar-azmi-t4 commented Dec 12, 2024 •

edited

Loading

github-actions bot commented Dec 12, 2024 •

edited

Loading

codecov bot commented Dec 23, 2024 •

edited

Loading