feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bpp packages by sarun-hub · Pull Request #12085 · autowarefoundation/autoware_universe

sarun-hub · 2026-02-13T06:53:13Z

Description

This PR is a small PR separated from #12014 for behavior_path_planner packages in planning component

These functions in autoware_lanelet2_extension that are ported in #760, and will be deprecated in autoware_lanelet2_extension PR #95.
This PR will replace their usage:
Target functions:

getArcCoordinates
getLateralDistanceToCenterline ❌
getLateralDistancetoClosestLanelet -> get_lateral_distance_to_centerline ❌
combineLaneletsShape
=========================================================
getCenterlineWithOffset
getRightBoundWithOffset ❌
getLeftBoundWithOffset ❌
==========================================================
getExpandedLanelet -> ported get_dirty_expanded_lanelet ❌
getExpandedLanelets -> ported get_dirty_expanded_lanelets ❌

Note:
❌: does not exist in autoware_universe - bpp packages

How was this PR tested?

Pass CI and Evaluator (CommonScenario_Basic)

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

(autoware_behavior_path_goal_planner_module) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

(autoware_behavior_path_start_planner_module) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

github-actions · 2026-02-13T06:53:30Z

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

You've checked our contribution guidelines.
Your PR follows our pull request guidelines.
All required CI checks pass before marking the PR ready for review.

github-actions · 2026-02-13T07:00:18Z

Documentation URL: https://autowarefoundation.github.io/autoware_universe/pr-12085/
Modified URLs:

codecov · 2026-02-13T08:17:23Z

Codecov Report

❌ Patch coverage is 57.22892% with 71 lines in your changes missing coverage. Please review.
✅ Project coverage is 23.52%. Comparing base (ce479fd) to head (ce6832f).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
..._start_planner_module/src/start_planner_module.cpp	30.00%	14 Missing ⚠️
..._module/src/pull_over_planner/bezier_pull_over.cpp	0.00%	8 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	38.46%	8 Missing ⚠️
...e_behavior_path_planner_common/src/utils/utils.cpp	70.83%	4 Missing and 3 partials ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp	66.66%	4 Missing and 1 partial ⚠️
...ior_path_goal_planner_module/src/goal_searcher.cpp	66.66%	4 Missing and 1 partial ⚠️
...are_behavior_path_goal_planner_module/src/util.cpp	42.85%	2 Missing and 2 partials ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	63.63%	2 Missing and 2 partials ⚠️
...ing_planner_module/src/sampling_planner_module.cpp	0.00%	4 Missing ⚠️
...ath_static_obstacle_avoidance_module/src/utils.cpp	55.55%	3 Missing and 1 partial ⚠️
... and 5 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #12085      +/-   ##
==========================================
+ Coverage   18.13%   23.52%   +5.39%     
==========================================
  Files        1839     1873      +34     
  Lines      126417   127990    +1573     
  Branches    44329    46910    +2581     
==========================================
+ Hits        22922    30110    +7188     
- Misses      84399    85206     +807     
+ Partials    19096    12674    -6422

Flag	Coverage Δ		*Carryforward flag
daily	`20.58% <0.00%> (-0.03%)`	⬇️	Carriedforward from e168db4
daily-cuda	`18.09% <0.00%> (-0.04%)`	⬇️	Carriedforward from e168db4
differential	`19.53% <57.57%> (?)`
total-cuda	`18.09% <0.00%> (-0.04%)`	⬇️	Carriedforward from e168db4

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

soblin · 2026-02-13T08:54:59Z

-  const auto combine_lanelet = lanelet::utils::combineLaneletsShape(concat_lanelets);
+  // concat_lanelets is already confirmed to have at least one lanelet (nearest lanelet)
+  const auto combine_lanelet =
+    *autoware::experimental::lanelet2_utils::combine_lanelets_shape(concat_lanelets);


Do not dereference optional without null-check ! In this case you should return false if it was nullopt

soblin · 2026-02-13T08:59:16Z

      // store combined lane and its front lane
      const auto & combined_and_first = std::pair<lanelet::ConstLanelet, lanelet::ConstLanelet>(
-        lanelet::utils::combineLaneletsShape(combined_lane_elems), combined_lane_elems.front());
+        *autoware::experimental::lanelet2_utils::combine_lanelets_shape(combined_lane_elems),


I'd prefer

(0) do not check combine_lane_elems

(1) obtain combine_lanelets_shape of optional type directly

(2) do the process

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

zulfaqar-azmi-t4 · 2026-02-17T02:51:55Z

-  const auto combined_target_lane = lanelet::utils::combineLaneletsShape(target_lanes);
+  const auto combined_target_lane_opt =
+    autoware::experimental::lanelet2_utils::combine_lanelets_shape(target_lanes);
+  if (!combined_target_lane_opt.has_value()) {


Suggested change

if (!combined_target_lane_opt.has_value()) {

if (!combined_target_lane_opt) {

@zulfaqar-azmi-t4
Thank you for your review and comments!

In this PR (and other related PRs), I used the same expression for the consistency.

Is there any performance issue with using has_value() instead of implicitly converting opt to bool (only opt)?
Is it okay to keep has_value() for consistency?

It is just about style, there is no performance issue since operator bool() is called internally

Thank you for the explanation. Within lane change module, normally we're using if (!combined_target_lane_opt) { directly. Personally I would like to keep the consistency that way. But then it is also okay, so I'll leave it to you,

Thank you for the suggestion. I’ve updated it to keep consistency with the lane change module (I found one more usage of has_value, so I removed it there too).

…ets opt Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

…on utilities functions - bpp packages (autowarefoundation#12085) * replace getArcCoordinates in bpp packages Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * replace getArcCoordinates usage in bpp packages (2) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * replace getArcCoordinates in bpp package (3) (autoware_behavior_path_goal_planner_module) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * replace getArcCoordinates in bpp package(4) (autoware_behavior_path_start_planner_module) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * replace getLateralDistanceToClosestLanelet in bpp package Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * replace getExpandedLanelet(s) in bpp package Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * replace combineLaneletsShape in bpp packages Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * fix wrong condition in bpp Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * style(pre-commit): autofix * remove directly dereference opt for combine_lanelet Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * remove log if lanelet is empty Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * bind reference to optional value for combine_lanelets_shape Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * remove log and simply return outside else in get_dirty_expanded_lanelets opt Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> * remove .has_value in lane_change_module for consistency Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> --------- Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>

sarun-hub added 8 commits February 13, 2026 15:40

replace getArcCoordinates in bpp packages

0d6cd9e

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

replace getArcCoordinates usage in bpp packages (2)

60b3172

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

replace getArcCoordinates in bpp package (3)

3c13e15

(autoware_behavior_path_goal_planner_module) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

replace getArcCoordinates in bpp package(4)

5b66d8d

(autoware_behavior_path_start_planner_module) Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

replace getLateralDistanceToClosestLanelet in bpp package

8e8ba5b

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

replace getExpandedLanelet(s) in bpp package

2c5d574

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

replace combineLaneletsShape in bpp packages

9f5e493

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

fix wrong condition in bpp

63d3b45

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

github-project-automation Bot added this to Software Working Group Feb 13, 2026

github-project-automation Bot moved this to To Triage in Software Working Group Feb 13, 2026

sarun-hub self-assigned this Feb 13, 2026

github-actions Bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 13, 2026

sarun-hub added run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Feb 13, 2026

style(pre-commit): autofix

9329cf1

github-actions Bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 13, 2026

sarun-hub mentioned this pull request Feb 13, 2026

feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions #12014

Closed

9 tasks

This was referenced Feb 13, 2026

feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - planning component #12083

Merged

feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bvp packages #12084

Merged

sarun-hub marked this pull request as ready for review February 13, 2026 07:03

sarun-hub requested review from Kotakku, TakaHoribe, go-sakayori, kyoichi-sugahara, rej55, satoshi-ota and shmpwk as code owners February 13, 2026 07:03

sarun-hub removed the run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) label Feb 13, 2026

soblin requested changes Feb 13, 2026

View reviewed changes

sarun-hub and others added 4 commits February 16, 2026 15:46

remove directly dereference opt for combine_lanelet

835ccb9

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

Merge branch 'main' into feat/bpp/replace_remaining_utilities

a2a1a1d

remove log if lanelet is empty

cf5d6b1

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

bind reference to optional value for combine_lanelets_shape

a2e9029

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

soblin approved these changes Feb 16, 2026

View reviewed changes

zulfaqar-azmi-t4 reviewed Feb 17, 2026

View reviewed changes

Kotakku approved these changes Feb 17, 2026

View reviewed changes

remove log and simply return outside else in get_dirty_expanded_lanel…

d3fc9e6

…ets opt Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

sarun-hub requested a review from zulfaqar-azmi-t4 February 18, 2026 01:35

soblin and others added 2 commits February 18, 2026 11:31

Merge branch 'main' into feat/bpp/replace_remaining_utilities

79d66e3

Merge branch 'main' into feat/bpp/replace_remaining_utilities

46af4fc

zulfaqar-azmi-t4 approved these changes Feb 19, 2026

View reviewed changes

Merge branch 'main' into feat/bpp/replace_remaining_utilities

9251a82

sarun-hub added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Feb 19, 2026

sarun-hub and others added 5 commits February 19, 2026 16:22

Merge branch 'main' into feat/bpp/replace_remaining_utilities

af12981

Merge branch 'main' into feat/bpp/replace_remaining_utilities

306452b

Merge branch 'main' into feat/bpp/replace_remaining_utilities

3dff694

remove .has_value in lane_change_module for consistency

e168db4

Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>

Merge branch 'main' into feat/bpp/replace_remaining_utilities

ce6832f

yhisaki approved these changes Feb 20, 2026

View reviewed changes

kosuke55 approved these changes Feb 20, 2026

View reviewed changes

maxime-clem approved these changes Feb 20, 2026

View reviewed changes

soblin merged commit 734e363 into autowarefoundation:main Feb 20, 2026
43 of 44 checks passed

github-project-automation Bot moved this from To Triage to Done in Software Working Group Feb 20, 2026

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bpp packages#12085

feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bpp packages#12085
soblin merged 22 commits intoautowarefoundation:mainfrom
sarun-hub:feat/bpp/replace_remaining_utilities

sarun-hub commented Feb 13, 2026 •

edited

Loading

Uh oh!

github-actions Bot commented Feb 13, 2026 •

edited

Loading

Uh oh!

github-actions Bot commented Feb 13, 2026

Uh oh!

codecov Bot commented Feb 13, 2026 •

edited

Loading

Uh oh!

Uh oh!

soblin Feb 13, 2026

Uh oh!

soblin Feb 13, 2026

Uh oh!

Uh oh!

zulfaqar-azmi-t4 Feb 17, 2026

Uh oh!

sarun-hub Feb 18, 2026

Uh oh!

soblin Feb 18, 2026

Uh oh!

zulfaqar-azmi-t4 Feb 19, 2026

Uh oh!

sarun-hub Feb 20, 2026

Uh oh!

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

7 participants

	if (!combined_target_lane_opt.has_value()) {
	if (!combined_target_lane_opt) {

Conversation

sarun-hub commented Feb 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Related links

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

Uh oh!

github-actions Bot commented Feb 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

github-actions Bot commented Feb 13, 2026

Uh oh!

codecov Bot commented Feb 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Codecov Report

Uh oh!

Uh oh!

soblin Feb 13, 2026

Choose a reason for hiding this comment

Uh oh!

soblin Feb 13, 2026

Choose a reason for hiding this comment

Uh oh!

Uh oh!

zulfaqar-azmi-t4 Feb 17, 2026

Choose a reason for hiding this comment

Uh oh!

sarun-hub Feb 18, 2026

Choose a reason for hiding this comment

Uh oh!

soblin Feb 18, 2026

Choose a reason for hiding this comment

Uh oh!

zulfaqar-azmi-t4 Feb 19, 2026

Choose a reason for hiding this comment

Uh oh!

sarun-hub Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

7 participants

sarun-hub commented Feb 13, 2026 •

edited

Loading

github-actions Bot commented Feb 13, 2026 •

edited

Loading

codecov Bot commented Feb 13, 2026 •

edited

Loading