feat(autoware_lanelet2_utils): create artificial lanelet object

[sarun-hub]

Description

This PR is to implement functions to create artificial lanelet object including

• Create lanelet::BasicLineString3d or lanelet::ConstLineString3d from lanelet::BasicPoint3d or lanelet::ConstPoint3d
• Create lanelet::ConstLanelet from right_points and left_points
• List up the places where default initialization like lanelet::ConstLanelet lanelet{}, lanelet::ConstLineString3d line{}; is happening.
• Add remove_const function.

Related links

Default initialization of lanelet::ConstLanelet, lanelet::ConstLineString3d and lanelet::BasicLineString3d

lanelet::ConstLanelet

autoware_core
common - autoware_lanelet2_utils/test/lanelet_sequence.cpp:53-55 (test)

planning - autoware_route_handler/route_handler.cpp:2159

autoware_universe
Planning -> behavior_path_planner

• autoware_behavior_path_planner_common/turn_signal_detector.cpp:227
• autoware_behavior_path_planner_common/geometric_parallel_parking.cpp:344
• autoware_behavior_path_static_obstacle_avoidance_module/scene.cpp:229
• autoware_behavior_path_goal_planner_module/goal_planner_module.hpp:73
• autoware_behavior_path_goal_planner_module/goal_planner_module.cpp:920, 931, 2394, and 2397
• autoware_behavior_path_goal_planner_module/util.cpp:192 and 194
• autoware_behavior_path_planner/planner_manager.hpp:203 and 515
• autoware_behavior_path_planner/planner_manager.cpp:267

Perception

• autoware_map_based_prediction/predictor_vru.cpp:536

autoware_lanelet2_extension

• autoware_lanelet2_extension_python/utlity.cpp:314
• autoware_lanelet2_extension_python/utility.cpp:338

lanelet::ConstLineString3d - doesn't exist

lanelet::BasicLineString3d

autoware_universe
Planning

• autoware_behavior_path_static_obstacle_avoidance_module/scene.cpp:71
• autoware_behavior_path_static_obstacle_avoidance_module/utils.cpp:1339

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

❌ Patch coverage is 95.34884% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 54.38%. Comparing base (8e90daa) to head (b19c074).
⚠️ Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
common/autoware_lanelet2_utils/src/conversion.cpp	95.34%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #669      +/-   ##
==========================================
+ Coverage   51.06%   54.38%   +3.31%     
==========================================
  Files         325      327       +2     
  Lines       21444    25101    +3657     
  Branches     9316    11794    +2478     
==========================================
+ Hits        10950    13650    +2700     
- Misses       9540    10305     +765     
- Partials      954     1146     +192     

Flag	Coverage Δ		*Carryforward flag
differential	49.80% <95.34%> (?)
total	51.06% <ø> (ø)		Carriedforward from 91ed41c

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

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[soblin]

This overload is not necessary (Because we shoud avoid usage of non-const Point3d)

[sarun-hub]

Note:
Since both BasicPoint3d and ConstPoint3d need to be converted into LineString3d before converting into ConstLanelet, I decided to implement overload for Point3d (because there is only Point3d constructor for LineString3d).
When I remove this overload, the last part of remaining types will be duplicate.
If you have any suggestion on how to shortcut from BasicPoint3d to ConstLanelet, please let me know.

[soblin]

Can you rename to

• create_safe_linestring
• create_safe_lanelet
  ?

[sarun-hub]

Note:
I also remove 3d from the function name for create_basic_linestring3d -> create_basic_linestring.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware_core/pr-669/
Modified URLs:

• https://autowarefoundation.github.io/autoware_core/pr-669/common/autoware_lanelet2_utils/

[sasakisasaki]

I have read all the changed parts. I agree with merging this PR 👍