move make_lanelet function to autoware_test_utils

Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Nov 15, 2024 · 9d301f6 · 9d301f6
1 parent 549f706
commit 9d301f6
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Showing 3 changed files with 28 additions and 13 deletions.
diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -330,6 +330,19 @@ void updateNodeOptions(
  */
 PathWithLaneId loadPathWithLaneIdInYaml();
 
+/**
+ * @brief create a straight lanelet from 2 segments defined by 4 points
+ * @param [in] left0 start of the left segment
+ * @param [in] left1 end of the left segment
+ * @param [in] right0 start of the right segment
+ * @param [in] right1 end of the right segment
+ * @return a ConstLanelet with the given left and right bounds and a unique lanelet id
+ *
+ */
+lanelet::ConstLanelet make_lanelet(
+  const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1,
+  const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1);
+
 /**
  * @brief Generates a trajectory with specified parameters.
  *

diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp
@@ -313,6 +313,19 @@ PathWithLaneId loadPathWithLaneIdInYaml()
   return parse<PathWithLaneId>(yaml_path);
 }
 
+lanelet::ConstLanelet make_lanelet(
+  const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1,
+  const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1)
+{
+  lanelet::LineString3d left_bound;
+  left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left0.x(), left0.y(), 0.0));
+  left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left1.x(), left1.y(), 0.0));
+  lanelet::LineString3d right_bound;
+  right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right0.x(), right0.y(), 0.0));
+  right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right1.x(), right1.y(), 0.0));
+  return {lanelet::utils::getId(), left_bound, right_bound};
+}
+
 std::optional<std::string> resolve_pkg_share_uri(const std::string & uri_path)
 {
   std::smatch match;

diff --git a/...ior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp b/...ior_path_planner/autoware_behavior_path_planner_common/test/test_static_drivable_area.cpp
@@ -36,20 +36,9 @@
 const auto intersection_map =
   autoware::test_utils::make_map_bin_msg(autoware::test_utils::get_absolute_path_to_lanelet_map(
     "autoware_test_utils", "intersection/lanelet2_map.osm"));
-using autoware::behavior_path_planner::DrivableLanes;
 
-lanelet::ConstLanelet make_lanelet(
-  const lanelet::BasicPoint2d & left0, const lanelet::BasicPoint2d & left1,
-  const lanelet::BasicPoint2d & right0, const lanelet::BasicPoint2d & right1)
-{
-  lanelet::LineString3d left_bound;
-  left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left0.x(), left0.y(), 0.0));
-  left_bound.push_back(lanelet::Point3d(lanelet::InvalId, left1.x(), left1.y(), 0.0));
-  lanelet::LineString3d right_bound;
-  right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right0.x(), right0.y(), 0.0));
-  right_bound.push_back(lanelet::Point3d(lanelet::InvalId, right1.x(), right1.y(), 0.0));
-  return {lanelet::utils::getId(), left_bound, right_bound};
-}
+using autoware::behavior_path_planner::DrivableLanes;
+using autoware::test_utils::make_lanelet;
 
 DrivableLanes make_drivable_lanes(const lanelet::ConstLanelet & ll)
 {