chore(behavavior_path): refactor use safe return

Signed-off-by: tanaka3 <[email protected]>
autowarefoundation · Mar 3, 2022 · 6d48465 · 6d48465
1 parent e6b8840
commit 6d48465
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Showing 5 changed files with 9 additions and 14 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
@@ -338,8 +338,9 @@ std::pair<bool, bool> LaneChangeModule::getSafePath(
 
     // select valid path
     valid_paths = lane_change_utils::selectValidPaths(
-      lane_change_paths, current_lanes, check_lanes, route_handler->getOverallGraph(), current_pose,
-      route_handler->isInGoalRouteSection(current_lanes.back()), route_handler->getGoalPose());
+      lane_change_paths, current_lanes, check_lanes, *route_handler->getOverallGraphPtr(),
+      current_pose, route_handler->isInGoalRouteSection(current_lanes.back()),
+      route_handler->getGoalPose());
 
     if (valid_paths.empty()) {
       return std::make_pair(false, false);

diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
@@ -422,7 +422,7 @@ std::pair<bool, bool> PullOutModule::getSafePath(
 
     // select valid path
     valid_paths = pull_out_utils::selectValidPaths(
-      pull_out_paths, road_lanes, check_lanes, route_handler->getOverallGraph(), current_pose,
+      pull_out_paths, road_lanes, check_lanes, *route_handler->getOverallGraphPtr(), current_pose,
       route_handler->isInGoalRouteSection(road_lanes.back()), route_handler->getGoalPose());
 
     if (valid_paths.empty()) {
@@ -493,7 +493,7 @@ std::pair<bool, bool> PullOutModule::getSafeRetreatPath(
 
     // select valid path
     valid_paths = pull_out_utils::selectValidPaths(
-      pull_out_paths, road_lanes, check_lanes, route_handler->getOverallGraph(), current_pose,
+      pull_out_paths, road_lanes, check_lanes, *route_handler->getOverallGraphPtr(), current_pose,
       route_handler->isInGoalRouteSection(road_lanes.back()), route_handler->getGoalPose());
 
     if (valid_paths.empty()) {
@@ -574,7 +574,7 @@ bool PullOutModule::getBackDistance(
 
       // select valid path
       valid_paths = pull_out_utils::selectValidPaths(
-        pull_out_paths, road_lanes, check_lanes, route_handler->getOverallGraph(), current_pose,
+        pull_out_paths, road_lanes, check_lanes, *route_handler->getOverallGraphPtr(), current_pose,
         route_handler->isInGoalRouteSection(road_lanes.back()), route_handler->getGoalPose());
 
       if (valid_paths.empty()) {

diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -353,8 +353,9 @@ std::pair<bool, bool> PullOverModule::getSafePath(
 
     // select valid path
     valid_paths = pull_over_utils::selectValidPaths(
-      pull_over_paths, current_lanes, check_lanes, route_handler->getOverallGraph(), current_pose,
-      route_handler->isInGoalRouteSection(current_lanes.back()), route_handler->getGoalPose());
+      pull_over_paths, current_lanes, check_lanes, *route_handler->getOverallGraphPtr(),
+      current_pose, route_handler->isInGoalRouteSection(current_lanes.back()),
+      route_handler->getGoalPose());
 
     if (valid_paths.empty()) {
       return std::make_pair(false, false);

diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp
@@ -78,7 +78,6 @@ class RouteHandler
   bool isMapMsgReady() const;
   lanelet::routing::RoutingGraphPtr getRoutingGraphPtr() const;
   lanelet::traffic_rules::TrafficRulesPtr getTrafficRulesPtr() const;
-  lanelet::routing::RoutingGraphContainer getOverallGraph() const;
   std::shared_ptr<const lanelet::routing::RoutingGraphContainer> getOverallGraphPtr() const;
   lanelet::LaneletMapPtr getLaneletMapPtr() const;
 

diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp
@@ -1283,12 +1283,6 @@ lanelet::traffic_rules::TrafficRulesPtr RouteHandler::getTrafficRulesPtr() const
   return traffic_rules_ptr_;
 }
 
-// TODO(tanaka): remove this
-lanelet::routing::RoutingGraphContainer RouteHandler::getOverallGraph() const
-{
-  return *overall_graphs_ptr_;
-}
-
 std::shared_ptr<const lanelet::routing::RoutingGraphContainer> RouteHandler::getOverallGraphPtr()
   const
 {