test(bpp_common): add unit test for safety check

[go-sakayori]

Description

Add unit test for autoware_behavior_path_planner_common/utils/safety_check.cpp

Related links

None

How was this PR tested?

Colcon test

4: [==========] Running 28 tests from 3 test suites.
4: [----------] Global test environment set-up.
4: [----------] 16 tests from BehaviorPathPlanningSafetyUtilsTest
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.isTargetObjectOncoming
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.isTargetObjectOncoming (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.isTargetObjectFront
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.isTargetObjectFront (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.createExtendedEgoPolygon
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.createExtendedEgoPolygon (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.createExtendedObjPolygon
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.createExtendedObjPolygon (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.convertToPredictedPath
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.convertToPredictedPath (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.calcRssDistance
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.calcRssDistance (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.calc_minimum_longitudinal_length
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.calc_minimum_longitudinal_length (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.get_interpolated_pose_with_velocity_and_polygon_stamped
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.get_interpolated_pose_with_velocity_and_polygon_stamped (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.filterPredictedPathAfterTargetPose
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.filterPredictedPathAfterTargetPose (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.checkSafetyWithRSS
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.checkSafetyWithRSS (4 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.checkSafetyWithIntegralPredictedPolygon
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.checkSafetyWithIntegralPredictedPolygon (8 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.checkCollision
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.checkCollision (8 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.checkPolygonsIntersects
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.checkPolygonsIntersects (1 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.calc_obstacle_length
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.calc_obstacle_length (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.checkObjectsCollisionRough
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.checkObjectsCollisionRough (0 ms)
4: [ RUN      ] BehaviorPathPlanningSafetyUtilsTest.calculateRoughDistanceToObjects
4: [       OK ] BehaviorPathPlanningSafetyUtilsTest.calculateRoughDistanceToObjects (0 ms)
4: [----------] 16 tests from BehaviorPathPlanningSafetyUtilsTest (21 ms total)

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.91%. Comparing base (5778e01) to head (525ead7).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9386      +/-   ##
==========================================
+ Coverage   29.77%   29.91%   +0.14%     
==========================================
  Files        1338     1344       +6     
  Lines      103364   103408      +44     
  Branches    40234    40235       +1     
==========================================
+ Hits        30773    30934     +161     
+ Misses      69606    69474     -132     
- Partials     2985     3000      +15     

Flag	Coverage Δ		*Carryforward flag
differential	20.00% <ø> (?)
total	29.77% <ø> (ø)		Carriedforward from 5778e01

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