fix(autoware_behavior_velocity_run_out_module): fix passedByValue (au…

…towarefoundation#8215) * fix:passedByValue Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:passedByValue Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> * fix:passedByValue Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
a-maumau · Jul 29, 2024 · 0220122 · 0220122
1 parent 357d93c
commit 0220122
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp
@@ -33,7 +33,7 @@ namespace autoware::behavior_velocity_planner
 namespace
 {
 RunOutDebug::TextWithPosition createDebugText(
-  const std::string text, const geometry_msgs::msg::Pose pose, const float lateral_offset)
+  const std::string & text, const geometry_msgs::msg::Pose pose, const float lateral_offset)
 {
   const auto offset_pose = autoware::universe_utils::calcOffsetPose(pose, 0, lateral_offset, 0);
 
@@ -46,7 +46,7 @@ RunOutDebug::TextWithPosition createDebugText(
 
 visualization_msgs::msg::MarkerArray createPolygonMarkerArray(
   const std::vector<std::vector<geometry_msgs::msg::Point>> & poly, const rclcpp::Time & time,
-  const std::string ns, const geometry_msgs::msg::Vector3 & scale,
+  const std::string & ns, const geometry_msgs::msg::Vector3 & scale,
   const std_msgs::msg::ColorRGBA & color, const double height)
 {
   visualization_msgs::msg::MarkerArray marker_array;

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
@@ -420,7 +420,7 @@ std::vector<DynamicObstacle> RunOutModule::excludeObstaclesOnEgoPath(
 
 std::vector<DynamicObstacle> RunOutModule::checkCollisionWithObstacles(
   const std::vector<DynamicObstacle> & dynamic_obstacles,
-  std::vector<geometry_msgs::msg::Point> poly, const float travel_time,
+  const std::vector<geometry_msgs::msg::Point> & poly, const float travel_time,
   const std::vector<std::pair<int64_t, lanelet::ConstLanelet>> & crosswalk_lanelets) const
 {
   const auto bg_poly_vehicle = run_out_utils::createBoostPolyFromMsg(poly);
@@ -976,7 +976,7 @@ std::vector<DynamicObstacle> RunOutModule::excludeObstaclesOutSideOfPartition(
 }
 
 void RunOutModule::publishDebugValue(
-  const PathWithLaneId & path, const std::vector<DynamicObstacle> extracted_obstacles,
+  const PathWithLaneId & path, const std::vector<DynamicObstacle> & extracted_obstacles,
   const std::optional<DynamicObstacle> & dynamic_obstacle,
   const geometry_msgs::msg::Pose & current_pose) const
 {

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.hpp
@@ -87,7 +87,7 @@ class RunOutModule : public SceneModuleInterface
 
   std::vector<DynamicObstacle> checkCollisionWithObstacles(
     const std::vector<DynamicObstacle> & dynamic_obstacles,
-    std::vector<geometry_msgs::msg::Point> poly, const float travel_time,
+    const std::vector<geometry_msgs::msg::Point> & poly, const float travel_time,
     const std::vector<std::pair<int64_t, lanelet::ConstLanelet>> & crosswalk_lanelets) const;
 
   std::optional<DynamicObstacle> findNearestCollisionObstacle(
@@ -171,7 +171,7 @@ class RunOutModule : public SceneModuleInterface
     const std::vector<DynamicObstacle> & dynamic_obstacles, const PathWithLaneId & path);
 
   void publishDebugValue(
-    const PathWithLaneId & path, const std::vector<DynamicObstacle> extracted_obstacles,
+    const PathWithLaneId & path, const std::vector<DynamicObstacle> & extracted_obstacles,
     const std::optional<DynamicObstacle> & dynamic_obstacle,
     const geometry_msgs::msg::Pose & current_pose) const;