return expected from Builder::build as well

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Mar 11, 2025 · 2e5151e · 2e5151e
1 parent a68e767
commit 2e5151e
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/...utoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp b/...utoware_trajectory/include/autoware/trajectory/interpolator/detail/interpolator_mixin.hpp
@@ -81,13 +81,14 @@ struct InterpolatorMixin : public InterpolatorInterface<T>
     }
 
     template <typename... Args>
-    [[nodiscard]] std::optional<InterpolatorType> build(Args &&... args)
+    [[nodiscard]] tl::expected<InterpolatorType, interpolator::InterpolationFailure> build(
+      Args &&... args)
     {
       auto interpolator = InterpolatorType(std::forward<Args>(args)...);
       const interpolator::InterpolationResult success =
         interpolator.build(std::move(bases_), std::move(values_));
       if (!success) {
-        return std::nullopt;
+        return tl::unexpected(success.error());
       }
       return interpolator;
     }

diff --git a/common/autoware_trajectory/test/test_interpolator.cpp b/common/autoware_trajectory/test/test_interpolator.cpp
@@ -61,7 +61,7 @@ TYPED_TEST_SUITE(TestInterpolator, Interpolators, );
 TYPED_TEST(TestInterpolator, compute)
 {
   this->interpolator =
-    typename TypeParam::Builder().set_bases(this->bases).set_values(this->values).build();
+    typename TypeParam::Builder().set_bases(this->bases).set_values(this->values).build().value();
   for (size_t i = 0; i < this->bases.size(); ++i) {
     EXPECT_NEAR(this->values[i], this->interpolator->compute(this->bases[i]), 1e-6);
   }