[tmp] RJD-1057 (5/5): Remove non-API member functions: Improve responsibility simulator core api

mock/cpp_mock_scenarios/include/cpp_mock_scenarios/cpp_scenario_node.hpp

@@ -48,8 +48,8 @@ class CppScenarioNode : public rclcpp::Node
     return false;
   }
   void spawnEgoEntity(
-    const traffic_simulator::CanonicalizedLaneletPose & spawn_lanelet_pose,
-    const std::vector<traffic_simulator::CanonicalizedLaneletPose> & goal_lanelet_pose,
+    const traffic_simulator::LaneletPose & spawn_lanelet_pose,
+    const std::vector<traffic_simulator::LaneletPose> & goal_lanelet_pose,
     const traffic_simulator_msgs::msg::VehicleParameters & parameters);
 
   auto isVehicle(const std::string & name) const -> bool;

mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp

@@ -70,28 +70,20 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters(),
       traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
     api_.spawn(
-      "pedestrian",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 3.0, 0.0, api_.getHdmapUtils()),
+      "pedestrian", traffic_simulator::helper::constructLaneletPose(34741, 3.0, 0.0),
       getPedestrianParameters(),
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing());
     api_.spawn(
       "vehicle_spawn_with_behavior_tree",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 2.0, 0.0, api_.getHdmapUtils()),
-      getVehicleParameters(),
+      traffic_simulator::helper::constructLaneletPose(34741, 2.0, 0.0), getVehicleParameters(),
       traffic_simulator::entity::VehicleEntity::BuiltinBehavior::behaviorTree());
     api_.spawn(
       "pedestrian_spawn_with_behavior_tree",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 3.0, 0.0, api_.getHdmapUtils()),
-      getPedestrianParameters(),
+      traffic_simulator::helper::constructLaneletPose(34741, 3.0, 0.0), getPedestrianParameters(),
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::behaviorTree());
   }
 };

mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp

@@ -52,9 +52,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(0.0);
     ego_entity->requestSpeedChange(15, true);
@@ -63,9 +61,7 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
     ego_entity->setBehaviorParameter(behavior_parameter);
 
     auto npc_entity = api_.spawn(
-      "npc",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 10.0, 0.0, api_.getHdmapUtils()),
+      "npc", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
     npc_entity->setLinearVelocity(0.0);
     npc_entity->requestSpeedChange(5, true);

mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp

@@ -50,17 +50,13 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 0.2, 1.3, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.2, 1.3),
       getVehicleParameters());
     ego_entity->setLinearVelocity(0);
     ego_entity->requestSpeedChange(0, true);
 
     auto bob_entity = api_.spawn(
-      "bob",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 0.0, -0.874, api_.getHdmapUtils()),
+      "bob", traffic_simulator::helper::constructLaneletPose(34741, 0.0, -0.874),
       getPedestrianParameters());
     bob_entity->setLinearVelocity(0);
     bob_entity->requestSpeedChange(0, true);

mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp

@@ -97,8 +97,8 @@ void CppScenarioNode::stop(Result result, const std::string & description)
 }
 
 void CppScenarioNode::spawnEgoEntity(
-  const traffic_simulator::CanonicalizedLaneletPose & spawn_lanelet_pose,
-  const std::vector<traffic_simulator::CanonicalizedLaneletPose> & goal_lanelet_poses,
+  const traffic_simulator::LaneletPose & spawn_lanelet_pose,
+  const std::vector<traffic_simulator::LaneletPose> & goal_lanelet_poses,
   const traffic_simulator_msgs::msg::VehicleParameters & parameters)
 {
   api_.updateFrame();

mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp

@@ -74,22 +74,16 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        120545, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(120545, 0.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(8, true);
-    ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34675, 0.0, 0.0, api_.getHdmapUtils()),
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34690, 0.0, 0.0, api_.getHdmapUtils())});
+    ego_entity->requestAssignRoute(
+      {traffic_simulator::helper::constructLaneletPose(34675, 0.0, 0.0),
+       traffic_simulator::helper::constructLaneletPose(34690, 0.0, 0.0)});
 
     auto bob_entity = api_.spawn(
-      "bob",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34378, 0.0, 0.0, api_.getHdmapUtils()),
+      "bob", traffic_simulator::helper::constructLaneletPose(34378, 0.0, 0.0),
       getPedestrianParameters());
     bob_entity->setLinearVelocity(0);
     bob_entity->requestSpeedChange(

mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp

@@ -59,16 +59,12 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(3);
 
     auto npc_entity = api_.spawn(
-      "npc",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 10.0, 0.0, api_.getHdmapUtils()),
+      "npc", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
     npc_entity->setLinearVelocity(10);
     npc_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp

@@ -59,16 +59,12 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(15);
 
     auto npc_entity = api_.spawn(
-      "npc",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 15.0, 0.0, api_.getHdmapUtils()),
+      "npc", traffic_simulator::helper::constructLaneletPose(34741, 15.0, 0.0),
       getVehicleParameters());
     npc_entity->setLinearVelocity(10);
     npc_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp

@@ -47,18 +47,14 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34741, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setStatus(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 0.0, 0.0, api_.getHdmapUtils()),
+      traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       traffic_simulator::helper::constructActionStatus(10));
     ego_entity->requestSpeedChange(10, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34408, 1.0, 0.0, api_.getHdmapUtils()));
+      traffic_simulator::helper::constructLaneletPose(34408, 1.0, 0.0), api_.getHdmapUtils());
     ego_entity->requestAcquirePosition(goal_pose);
   }
 };

mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp

@@ -47,19 +47,15 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34408, 1.0, 0.0, api_.getHdmapUtils())));
+      traffic_simulator::helper::constructLaneletPose(34408, 1.0, 0.0), api_.getHdmapUtils()));
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34408, 10, 0.0, api_.getHdmapUtils())));
+      traffic_simulator::helper::constructLaneletPose(34408, 10, 0.0), api_.getHdmapUtils()));
     ego_entity->requestAssignRoute(goal_poses);
   }
 };

mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp

@@ -41,9 +41,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   {
     const auto ego_entity = api_.getEntity("ego");
     if (ego_entity->isInPosition(
-          traffic_simulator::helper::constructCanonicalizedLaneletPose(
-            34513, 30, 0, api_.getHdmapUtils()),
-          3.0)) {
+          traffic_simulator::helper::constructLaneletPose(34513, 30, 0), 3.0)) {
       ego_entity->cancelRequest();
       canceled = true;
     }
@@ -54,9 +52,7 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 0.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(7);
     ego_entity->requestSpeedChange(7, true);

mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp

@@ -43,8 +43,7 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
     const auto ego_entity = api_.getEntity("ego");
     if (const auto lanelet_pose = ego_entity->getCanonicalizedLaneletPose(); not lanelet_pose) {
       stop(cpp_mock_scenarios::Result::FAILURE);
-    } else if (traffic_simulator::pose::isInLanelet(
-                 lanelet_pose.value(), 34507, 0.1, api_.getHdmapUtils())) {
+    } else if (ego_entity->isInLanelet(34507, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     } else if (
       std::abs(static_cast<traffic_simulator::LaneletPose>(lanelet_pose.value()).offset) <= 2.8) {
@@ -54,9 +53,7 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 0.0, 3.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 0.0, 3.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp

@@ -51,9 +51,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp

@@ -51,9 +51,7 @@ class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp

@@ -56,9 +56,7 @@ class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp

@@ -60,9 +60,7 @@ class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppSc
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp

@@ -61,9 +61,7 @@ class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp

@@ -47,9 +47,7 @@ class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppSce
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(1);
     ego_entity->requestSpeedChange(1, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp

@@ -51,9 +51,7 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp

@@ -51,9 +51,7 @@ class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp

@@ -61,9 +61,7 @@ class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34462, 10.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(10, true);

mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp

@@ -136,25 +136,19 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 5.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 5.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(3, true);
 
     auto front_entity = api_.spawn(
-      "front",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 10.0, 1.0, api_.getHdmapUtils()),
+      "front", traffic_simulator::helper::constructLaneletPose(34513, 10.0, 1.0),
       getVehicleParameters());
     front_entity->setLinearVelocity(10);
     front_entity->requestSpeedChange(3, true);
 
     auto behind_entity = api_.spawn(
-      "behind",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 0.0, -1.0, api_.getHdmapUtils()),
+      "behind", traffic_simulator::helper::constructLaneletPose(34513, 0.0, -1.0),
       getVehicleParameters());
     behind_entity->setLinearVelocity(10);
     behind_entity->requestSpeedChange(3, true);

mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp

@@ -57,9 +57,7 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod
   void onInitialize() override
   {
     auto ego_entity = api_.spawn(
-      "ego",
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34513, 5.0, 0.0, api_.getHdmapUtils()),
+      "ego", traffic_simulator::helper::constructLaneletPose(34513, 5.0, 0.0),
       getVehicleParameters());
     ego_entity->setLinearVelocity(10);
     ego_entity->requestSpeedChange(3, true);