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refactor(behavior_path_planner): separete function in utils to object…
…s_filtering (autowarefoundation#4658) * separate utils function to object_filtering Signed-off-by: kyoichi-sugahara <[email protected]> * chenge call side of util functions Signed-off-by: kyoichi-sugahara <[email protected]> * refactor Signed-off-by: kyoichi-sugahara <[email protected]> * add explanation for parameters Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]>
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...ath_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__OBJECTS_FILTERING_HPP_ | ||
| #define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__OBJECTS_FILTERING_HPP_ | ||
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| #include "behavior_path_planner/data_manager.hpp" | ||
| #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp" | ||
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| #include <autoware_auto_perception_msgs/msg/predicted_object.hpp> | ||
| #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp> | ||
| #include <autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp> | ||
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| #include <lanelet2_core/geometry/Lanelet.h> | ||
| #include <lanelet2_routing/RoutingGraphContainer.h> | ||
| #include <tf2/utils.h> | ||
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| #include <memory> | ||
| #include <string> | ||
| #include <utility> | ||
| #include <vector> | ||
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| namespace behavior_path_planner::utils::path_safety_checker | ||
| { | ||
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| using autoware_auto_perception_msgs::msg::PredictedObject; | ||
| using autoware_auto_perception_msgs::msg::PredictedObjects; | ||
| using autoware_auto_planning_msgs::msg::PathPointWithLaneId; | ||
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| /** | ||
| * @brief Filters objects based on various criteria. | ||
| * | ||
| * @param objects The predicted objects to filter. | ||
| * @param route_handler | ||
| * @param current_lanes | ||
| * @param current_pose The current pose of ego vehicle. | ||
| * @param params The filtering parameters. | ||
| * @return PredictedObjects The filtered objects. | ||
| */ | ||
| PredictedObjects filterObjects( | ||
| const std::shared_ptr<const PredictedObjects> & objects, | ||
| const std::shared_ptr<RouteHandler> & route_handler, const lanelet::ConstLanelets & current_lanes, | ||
| const geometry_msgs::msg::Point & current_pose, | ||
| const std::shared_ptr<ObjectsFilteringParams> & params); | ||
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| /** | ||
| * @brief Filter objects based on their velocity. | ||
| * | ||
| * @param objects The predicted objects to filter. | ||
| * @param lim_v Velocity limit for filtering. | ||
| * @return PredictedObjects The filtered objects. | ||
| */ | ||
| PredictedObjects filterObjectsByVelocity(const PredictedObjects & objects, double lim_v); | ||
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| /** | ||
| * @brief Filter objects based on a velocity range. | ||
| * | ||
| * @param objects The predicted objects to filter. | ||
| * @param min_v Minimum velocity for filtering. | ||
| * @param max_v Maximum velocity for filtering. | ||
| * @return PredictedObjects The filtered objects. | ||
| */ | ||
| PredictedObjects filterObjectsByVelocity( | ||
| const PredictedObjects & objects, double min_v, double max_v); | ||
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| /** | ||
| * @brief Filter objects based on their position relative to a current_pose. | ||
| * | ||
| * @param objects The predicted objects to filter. | ||
| * @param path_points Points on the path. | ||
| * @param current_pose Current pose of the reference (e.g., ego vehicle). | ||
| * @param forward_distance Maximum forward distance for filtering. | ||
| * @param backward_distance Maximum backward distance for filtering. | ||
| */ | ||
| void filterObjectsByPosition( | ||
| PredictedObjects & objects, const std::vector<PathPointWithLaneId> & path_points, | ||
| const geometry_msgs::msg::Point & current_pose, const double forward_distance, | ||
| const double backward_distance); | ||
| /** | ||
| * @brief Filters the provided objects based on their classification. | ||
| * | ||
| * @param objects The predicted objects to be filtered. | ||
| * @param target_object_types The types of objects to retain after filtering. | ||
| */ | ||
| void filterObjectsByClass( | ||
| PredictedObjects & objects, const ObjectTypesToCheck & target_object_types); | ||
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| /** | ||
| * @brief Separate index of the obstacles into two part based on whether the object is within | ||
| * lanelet. | ||
| * @return Indices of objects pair. first objects are in the lanelet, and second others are out of | ||
| * lanelet. | ||
| */ | ||
| std::pair<std::vector<size_t>, std::vector<size_t>> separateObjectIndicesByLanelets( | ||
| const PredictedObjects & objects, const lanelet::ConstLanelets & target_lanelets); | ||
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| /** | ||
| * @brief Separate the objects into two part based on whether the object is within lanelet. | ||
| * @return Objects pair. first objects are in the lanelet, and second others are out of lanelet. | ||
| */ | ||
| std::pair<PredictedObjects, PredictedObjects> separateObjectsByLanelets( | ||
| const PredictedObjects & objects, const lanelet::ConstLanelets & target_lanelets); | ||
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| /** | ||
| * @brief Get the predicted path from an object. | ||
| * | ||
| * @param obj The extended predicted object. | ||
| * @param is_use_all_predicted_path Flag to determine whether to use all predicted paths or just the | ||
| * one with maximum confidence. | ||
| * @return std::vector<PredictedPathWithPolygon> The predicted path(s) from the object. | ||
| */ | ||
| std::vector<PredictedPathWithPolygon> getPredictedPathFromObj( | ||
| const ExtendedPredictedObject & obj, const bool & is_use_all_predicted_path); | ||
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| /** | ||
| * @brief Create a predicted path based on ego vehicle parameters. | ||
| * | ||
| * @param ego_predicted_path_params Parameters for ego's predicted path. | ||
| * @param path_points Points on the path. | ||
| * @param vehicle_pose Current pose of the ego-vehicle. | ||
| * @param current_velocity Current velocity of the vehicle. | ||
| * @param ego_seg_idx Index of the ego segment. | ||
| * @return std::vector<PoseWithVelocityStamped> The predicted path. | ||
| */ | ||
| std::vector<PoseWithVelocityStamped> createPredictedPath( | ||
| const std::shared_ptr<EgoPredictedPathParams> & ego_predicted_path_params, | ||
| const std::vector<PathPointWithLaneId> & path_points, | ||
| const geometry_msgs::msg::Pose & vehicle_pose, const double current_velocity, size_t ego_seg_idx); | ||
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| /** | ||
| * @brief Checks if the centroid of a given object is within the provided lanelets. | ||
| * | ||
| * @param object The predicted object to check. | ||
| * @param target_lanelets The lanelets to check against. | ||
| * @return bool True if the object's centroid is within the lanelets, otherwise false. | ||
| */ | ||
| bool isCentroidWithinLanelets( | ||
| const PredictedObject & object, const lanelet::ConstLanelets & target_lanelets); | ||
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| /** | ||
| * @brief Transforms a given object into an extended predicted object. | ||
| * | ||
| * @param object The predicted object to transform. | ||
| * @param safety_check_time_horizon The time horizon for safety checks. | ||
| * @param safety_check_time_resolution The time resolution for safety checks. | ||
| * @return ExtendedPredictedObject The transformed object. | ||
| */ | ||
| ExtendedPredictedObject transform( | ||
| const PredictedObject & object, const double safety_check_time_horizon, | ||
| const double safety_check_time_resolution); | ||
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| /** | ||
| * @brief Creates target objects on a lane based on provided parameters. | ||
| * | ||
| * @param current_lanes | ||
| * @param route_handler | ||
| * @param filtered_objects The filtered objects. | ||
| * @param params The filtering parameters. | ||
| * @return TargetObjectsOnLane The target objects on the lane. | ||
| */ | ||
| TargetObjectsOnLane createTargetObjectsOnLane( | ||
| const lanelet::ConstLanelets & current_lanes, const std::shared_ptr<RouteHandler> & route_handler, | ||
| const PredictedObjects & filtered_objects, | ||
| const std::shared_ptr<ObjectsFilteringParams> & params); | ||
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| } // namespace behavior_path_planner::utils::path_safety_checker | ||
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| #endif // BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__OBJECTS_FILTERING_HPP_ |
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