feat(behavior_path_planner): add postProcess() in scene module interf…

…ace (#5336) * add postProcess Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * modify comment Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
autowarefoundation · Oct 18, 2023 · 22a5ced · 22a5ced
1 parent f0ea398
commit 22a5ced
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diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -272,6 +272,8 @@ class PlannerManager
     const auto result = module_ptr->run();
     module_ptr->unlockRTCCommand();
 
+    module_ptr->postProcess();
+
     module_ptr->updateCurrentState();
 
     module_ptr->publishRTCStatus();

diff --git a/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -131,6 +131,12 @@ class SceneModuleInterface
    */
   virtual void updateData() {}
 
+  /**
+   * @brief After executing run(), update the module-specific status and/or data used for internal
+   *        processing that are not defined in ModuleStatus.
+   */
+  virtual void postProcess() {}
+
   /**
    * @brief Execute module. Once this function is executed,
    *        it will continue to run as long as it is in the RUNNING state.