fix pre-commit and move updateRTCStatus to cpp file

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
autowarefoundation · May 1, 2023 · 7ac9f85 · 7ac9f85
1 parent 609b2c0
commit 7ac9f85
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Showing 2 changed files with 26 additions and 20 deletions.
diff --git a/...ehavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp b/...ehavior_path_planner/include/behavior_path_planner/scene_module/lane_change/interface.hpp
@@ -129,16 +129,7 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
   ModuleStatus updateState() override;
 
 protected:
-  void updateRTCStatus(const double start_distance, const double finish_distance) override
-  {
-    const auto direction = std::invoke([&]() -> std::string {
-      const auto dir = module_type_->getDirection();
-      return (dir == Direction::LEFT) ? "left" : "right";
-    });
-
-    rtc_interface_ptr_map_.at(direction)->updateCooperateStatus(
-      uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now());
-  }
+  void updateRTCStatus(const double start_distance, const double finish_distance) override;
 };
 
 class LaneChangeBTInterface : public LaneChangeInterface
@@ -178,16 +169,7 @@ class LaneChangeBTModule : public LaneChangeBTInterface
     const std::shared_ptr<LaneChangeParameters> & parameters);
 
 protected:
-  void updateRTCStatus(const double start_distance, const double finish_distance) override
-  {
-    const auto direction = std::invoke([&]() -> std::string {
-      const auto dir = module_type_->getDirection();
-      return (dir == Direction::LEFT) ? "left" : "right";
-    });
-
-    rtc_interface_ptr_map_.at(direction)->updateCooperateStatus(
-      uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now());
-  }
+  void updateRTCStatus(const double start_distance, const double finish_distance) override;
 };
 
 class ExternalRequestLaneChangeLeftBTModule : public LaneChangeBTInterface

diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
@@ -356,6 +356,18 @@ ModuleStatus AvoidanceByLaneChangeInterface::updateState()
   return current_state_;
 }
 
+void AvoidanceByLaneChangeInterface::updateRTCStatus(
+  const double start_distance, const double finish_distance)
+{
+  const auto direction = std::invoke([&]() -> std::string {
+    const auto dir = module_type_->getDirection();
+    return (dir == Direction::LEFT) ? "left" : "right";
+  });
+
+  rtc_interface_ptr_map_.at(direction)->updateCooperateStatus(
+    uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now());
+}
+
 LaneChangeBTInterface::LaneChangeBTInterface(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<LaneChangeParameters> & parameters,
@@ -460,6 +472,18 @@ LaneChangeBTModule::LaneChangeBTModule(
     std::make_unique<NormalLaneChangeBT>(parameters, LaneChangeModuleType::NORMAL, Direction::NONE)}
 {
 }
+
+void LaneChangeBTModule::updateRTCStatus(const double start_distance, const double finish_distance)
+{
+  const auto direction = std::invoke([&]() -> std::string {
+    const auto dir = module_type_->getDirection();
+    return (dir == Direction::LEFT) ? "left" : "right";
+  });
+
+  rtc_interface_ptr_map_.at(direction)->updateCooperateStatus(
+    uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now());
+}
+
 ExternalRequestLaneChangeLeftBTModule::ExternalRequestLaneChangeLeftBTModule(
   const std::string & name, rclcpp::Node & node,
   const std::shared_ptr<LaneChangeParameters> & parameters)