HdMapUtils refactor lanelet_wrapper::distance::longitudinalDistance

[abco20]

Description

Abstract

This is the partial PR of the HdMapUtils refactor (PR 2/6) ( #1478 )

Details

Replace usage of HdMapUtils::getLongitudinalDistance with non-member function lanelet_wrapper::distance::longitudinalDistance

References

• HdMapUtils refactor (PR 2/6) - extend lanelet_wrapper: add ::distance and necessary parts of ::route, ::lanelet_map, ::traffic_lights #1478

Destructive Changes

The hdmap_utils_ptr parameter has been removed from the following functions:

• traffic_simulator::distance::longitudinalDistance
• traffic_simulator::distance::boundingBoxLaneLongitudinalDistance
• traffic_simulator::pose::relativeLaneletPose
• traffic_simulator::pose::boundingBoxRelativeLaneletPose
• traffic_simulator::follow_trajectory::makeUpdatedStatus

Migration Guide

Before (Old Signature)

auto longitudinalDistance(
  const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
  bool include_adjacent_lanelet, bool include_opposite_direction,
  const traffic_simulator::RoutingConfiguration & routing_configuration,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;

auto boundingBoxLaneLongitudinalDistance(
  const CanonicalizedLaneletPose & from,
  const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
  const CanonicalizedLaneletPose & to,
  const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box, bool include_adjacent_lanelet,
  bool include_opposite_direction,
  const traffic_simulator::RoutingConfiguration & routing_configuration,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> std::optional<double>;

auto relativeLaneletPose(
  const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
  const RoutingConfiguration & routing_configuration,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> LaneletPose;

auto boundingBoxRelativeLaneletPose(
  const CanonicalizedLaneletPose & from,
  const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
  const CanonicalizedLaneletPose & to,
  const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
  const RoutingConfiguration & routing_configuration,
  const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr) -> LaneletPose;

auto makeUpdatedStatus(
  const traffic_simulator_msgs::msg::EntityStatus &,
  traffic_simulator_msgs::msg::PolylineTrajectory &,
  const traffic_simulator_msgs::msg::BehaviorParameter &,
  const std::shared_ptr<hdmap_utils::HdMapUtils> &, double, double,
  std::optional<double> target_speed = std::nullopt) -> std::optional<EntityStatus>;

After (New Signature)

auto longitudinalDistance(
  const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
  const bool include_adjacent_lanelet, const bool include_opposite_direction,
  const RoutingConfiguration & routing_configuration) -> std::optional<double>;

auto boundingBoxLaneLongitudinalDistance(
  const CanonicalizedLaneletPose & from,
  const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
  const CanonicalizedLaneletPose & to,
  const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
  const bool include_adjacent_lanelet, const bool include_opposite_direction,
  const RoutingConfiguration & routing_configuration) -> std::optional<double>;

auto relativeLaneletPose(
  const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,
  const RoutingConfiguration & routing_configuration) -> LaneletPose;

auto boundingBoxRelativeLaneletPose(
  const CanonicalizedLaneletPose & from,
  const traffic_simulator_msgs::msg::BoundingBox & from_bounding_box,
  const CanonicalizedLaneletPose & to,
  const traffic_simulator_msgs::msg::BoundingBox & to_bounding_box,
  const RoutingConfiguration & routing_configuration) -> LaneletPose;

auto makeUpdatedStatus(
  const traffic_simulator_msgs::msg::EntityStatus &,
  traffic_simulator_msgs::msg::PolylineTrajectory &,
  const traffic_simulator_msgs::msg::BehaviorParameter &, double, double,
  std::optional<double> target_speed = std::nullopt) -> std::optional<EntityStatus>;

const std::shared_ptr<hdmap_utils::HdMapUtils> & hdmap_utils_ptr parameter has been removed.
Remove the hdmap_utils_ptr argument from function call

Known Limitations

None.

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
• Labels of this pull request are valid?
• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
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[sonarqubecloud]

Quality Gate passed

Issues
3 New issues
0 Accepted issues

Measures
0 Security Hotspots
53.2% Coverage on New Code
1.3% Duplication on New Code

See analysis details on SonarQube Cloud

[sonarqubecloud]

Quality Gate passed

Issues
3 New issues
0 Accepted issues

Measures
0 Security Hotspots
53.2% Coverage on New Code
1.2% Duplication on New Code

See analysis details on SonarQube Cloud