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Merged
merged 12 commits into from
May 27, 2025
Merged

Refactor/behavior tree 2 #1606

merged 12 commits into from
May 27, 2025

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takanotaiga
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@takanotaiga takanotaiga commented May 23, 2025 •
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Abstract

This pull request is a refactoring of the BehaviorTreePlugin proposed by ROBOTECH.

Background

N/A

Details

  • Removed unreachable section.
  • Reviewed and simplified the logic in StopAtStopLineAction.
  • Removed unused in_stop_sequence_.
  • Avoided redundant checks for identical conditions in StopAtCrossingAc…
  • Added lane matching failure condition in StopAtStopLineAction.
  • Added a check for the value of lane_change_velocity_.
  • Replaced hardcoded values with named constants.

References

Destructive Changes

N/A

Known Limitations

N/A

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github-actions bot commented May 23, 2025 •
edited by hakuturu583
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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.
  • The documentation for this pull request is enough? If you think adding documents for this pull request is unnecessary, please describe why and cross out this line.

@takanotaiga takanotaiga self-assigned this May 23, 2025
@takanotaiga takanotaiga added bump patch If this pull request merged, bump patch version of the scenario_simulator_v2 and removed wait for regression test labels May 26, 2025
@takanotaiga takanotaiga marked this pull request as ready for review May 26, 2025 07:08
@takanotaiga takanotaiga requested a review from hakuturu583 May 26, 2025 07:08
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Quality Gate Passed Quality Gate passed

Issues
3 New issues
0 Accepted issues

Measures
0 Security Hotspots
50.0% Coverage on New Code
4.5% Duplication on New Code

See analysis details on SonarQube Cloud

@hakuturu583 hakuturu583 merged commit f5bfa67 into master May 27, 2025
18 of 21 checks passed
@github-actions github-actions bot deleted the refactor/behavior-tree-2 branch May 27, 2025 01:53
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@hakuturu583 hakuturu583 hakuturu583 approved these changes

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bump patch If this pull request merged, bump patch version of the scenario_simulator_v2
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@takanotaiga @hakuturu583