autoware_planning_factor_interface

Overview

The PlanningFactorInterface is a C++ class designed to facilitate the addition and publication of planning factors.

Design

The PlanningFactorInterface class is designed to be lightweight and efficient, with the following key components:

• Add: Methods to add planning factors to the interface.

• Publisher: The class includes a publisher for PlanningFactorArray messages, which are used to distribute planning factors to other nodes in the system.

The design emphasizes flexibility and ease of use, allowing developers to quickly integrate new planning factors into autoware.

Usage

Including the Header

To use the PlanningFactorInterface, include the header file in your code:

#include <autoware/planning_factor_interface/planning_factor_interface.hpp>

Creating an Instance

Instantiate the PlanningFactorInterface by providing a node and a name for the factor module:

class PlannerInterface
{
public:
  virtual ~PlannerInterface() = default;
  PlannerInterface(
    rclcpp::Node & node, const LongitudinalInfo & longitudinal_info,
    const autoware::vehicle_info_utils::VehicleInfo & vehicle_info,
    const EgoNearestParam & ego_nearest_param, const std::shared_ptr<DebugData> debug_data_ptr)
  : planning_factor_interface_{std::make_unique<
      autoware::planning_factor_interface::PlanningFactorInterface>(
      &node, "obstacle_cruise_planner")},

code example from src/universe/autoware_universe/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp

Adding Planning Factors

The add method can be used to add planning factors. Here’s an example from src/universe/autoware_universe/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp.

planning_factor_interface_->add(
        stop_traj_points, planner_data.ego_pose, stop_traj_points.at(wall_idx).pose,
        autoware_internal_planning_msgs::msg::PlanningFactor::NONE,
        autoware_internal_planning_msgs::msg::SafetyFactorArray{});

Publishing Factors

After adding planning factors, you can publish them by calling the publish method:

// Publish the added factors
planning_factor_interface_->publish();

Changelog for package autoware_planning_factor_interface

1.0.0 (2025-03-31)

• fix(planning_factor_interface): set control point data independently (#291)
  • fix(planning_factor_interface): set shift length properly

  * chore: add comment ---------

• Contributors: Satoshi OTA

0.3.0 (2025-03-21)

• chore: fix versions in package.xml
• chore: rename from [autoware.core]{.title-ref} to [autoware_core]{.title-ref} (#290)
• feat(autoware_planning_factor_interface): move to core from universe (#241)
• Contributors: Yutaka Kondo, mitsudome-r, 心刚