refactor(lane_change): use lane change namespace for structs (#7508)

* refactor(lane_change): use lane change namespace for structs Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Move lane change namespace to bottom level Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Jun 21, 2024 · 8499417 · 8499417
1 parent 821d14a
commit 8499417
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Showing 6 changed files with 11 additions and 18 deletions.
diff --git a/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/...avior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp
@@ -31,10 +31,10 @@ using autoware::behavior_path_planner::utils::path_safety_checker::
 using autoware::behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped;
 using autoware::behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon;
 using autoware::route_handler::Direction;
-using data::lane_change::LanesPolygon;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
+using lane_change::LanesPolygon;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using utils::path_safety_checker::ExtendedPredictedObjects;
 

diff --git a/...lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/...lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
@@ -38,10 +38,10 @@ namespace autoware::behavior_path_planner
 {
 using autoware::route_handler::Direction;
 using autoware::universe_utils::StopWatch;
-using data::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
+using lane_change::PathSafetyStatus;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 class LaneChangeBase
@@ -126,7 +126,7 @@ class LaneChangeBase
 
   const LaneChangeStatus & getLaneChangeStatus() const { return status_; }
 
-  const data::lane_change::Debug & getDebugData() const { return lane_change_debug_; }
+  const lane_change::Debug & getDebugData() const { return lane_change_debug_; }
 
   const Pose & getEgoPose() const { return planner_data_->self_odometry->pose.pose; }
 
@@ -233,7 +233,7 @@ class LaneChangeBase
   LaneChangeModuleType type_{LaneChangeModuleType::NORMAL};
 
   mutable StopWatch<std::chrono::milliseconds> stop_watch_;
-  mutable data::lane_change::Debug lane_change_debug_;
+  mutable lane_change::Debug lane_change_debug_;
 
   rclcpp::Logger logger_ = utils::lane_change::getLogger(getModuleTypeStr());
   mutable rclcpp::Clock clock_{RCL_ROS_TIME};

diff --git a/...ne_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/...ne_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp
@@ -189,13 +189,6 @@ struct LaneChangeInfo
   double terminal_lane_changing_velocity{0.0};
 };
 
-struct LaneChangeTargetObjectIndices
-{
-  std::vector<size_t> current_lane{};
-  std::vector<size_t> target_lane{};
-  std::vector<size_t> other_lane{};
-};
-
 struct LaneChangeLanesFilteredObjects
 {
   utils::path_safety_checker::ExtendedPredictedObjects current_lane{};
@@ -210,7 +203,7 @@ enum class LaneChangeModuleType {
 };
 }  // namespace autoware::behavior_path_planner
 
-namespace autoware::behavior_path_planner::data::lane_change
+namespace autoware::behavior_path_planner::lane_change
 {
 struct PathSafetyStatus
 {
@@ -224,6 +217,6 @@ struct LanesPolygon
   std::optional<lanelet::BasicPolygon2d> target;
   std::vector<lanelet::BasicPolygon2d> target_backward;
 };
-}  // namespace autoware::behavior_path_planner::data::lane_change
+}  // namespace autoware::behavior_path_planner::lane_change
 
 #endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
diff --git a/...e_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp b/...e_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp
@@ -26,7 +26,7 @@
 #include <limits>
 #include <string>
 
-namespace autoware::behavior_path_planner::data::lane_change
+namespace autoware::behavior_path_planner::lane_change
 {
 using utils::path_safety_checker::CollisionCheckDebugMap;
 struct Debug
@@ -71,6 +71,6 @@ struct Debug
     is_abort = false;
   }
 };
-}  // namespace autoware::behavior_path_planner::data::lane_change
+}  // namespace autoware::behavior_path_planner::lane_change
 
 #endif  // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
diff --git a/...th_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/...th_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp
@@ -30,7 +30,7 @@
 namespace marker_utils::lane_change_markers
 {
 using autoware::behavior_path_planner::LaneChangePath;
-using autoware::behavior_path_planner::data::lane_change::Debug;
+using autoware::behavior_path_planner::lane_change::Debug;
 using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects;
 using visualization_msgs::msg::MarkerArray;
 MarkerArray showAllValidLaneChangePath(

diff --git a/...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/...path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -48,8 +48,8 @@ using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
-using data::lane_change::LanesPolygon;
-using data::lane_change::PathSafetyStatus;
+using behavior_path_planner::lane_change::LanesPolygon;
+using behavior_path_planner::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;