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fix: traffic light module #695

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merged 2 commits into from
Apr 14, 2022
Merged

fix: traffic light module #695

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154fe21
fix: traffic light arrow
tkimura4 Apr 14, 2022
96fca02
change function name
tkimura4 Apr 14, 2022
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2 changes: 1 addition & 1 deletion planning/behavior_velocity_planner/include/scene_module/traffic_light/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ class TrafficLightModule : public SceneModuleInterface

bool isPassthrough(const double & signed_arc_length) const;

bool hasTrafficLightColor(
bool hasTrafficLightCircleColor(
const autoware_auto_perception_msgs::msg::TrafficSignal & tl_state,
const uint8_t & lamp_color) const;

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14 changes: 9 additions & 5 deletions planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -364,7 +364,8 @@ bool TrafficLightModule::isPassthrough(const double & signed_arc_length) const
bool TrafficLightModule::isTrafficSignalStop(
const autoware_auto_perception_msgs::msg::TrafficSignal & tl_state) const
{
if (hasTrafficLightColor(tl_state, autoware_auto_perception_msgs::msg::TrafficLight::GREEN)) {
if (hasTrafficLightCircleColor(
tl_state, autoware_auto_perception_msgs::msg::TrafficLight::GREEN)) {
return false;
}

Expand Down Expand Up @@ -485,13 +486,16 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP
return modified_path;
}

bool TrafficLightModule::hasTrafficLightColor(
bool TrafficLightModule::hasTrafficLightCircleColor(
const autoware_auto_perception_msgs::msg::TrafficSignal & tl_state,
const uint8_t & lamp_color) const
{
const auto it_lamp = std::find_if(
tl_state.lights.begin(), tl_state.lights.end(),
[&lamp_color](const auto & x) { return x.color == lamp_color; });
using autoware_auto_perception_msgs::msg::TrafficLight;

const auto it_lamp =
std::find_if(tl_state.lights.begin(), tl_state.lights.end(), [&lamp_color](const auto & x) {
return x.shape == TrafficLight::CIRCLE && x.color == lamp_color;
});

return it_lamp != tl_state.lights.end();
}
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