RJD-1457/traffic_sink_refactor

.github/workflows/Docker.yaml

@@ -25,7 +25,8 @@ jobs:
     strategy:
       matrix:
         rosdistro: [humble]
-        arch: [amd64, arm64]
+        # arch: [amd64, arm64]
+        arch: [amd64]
 
     steps:
       - name: Free Disk Space (Ubuntu)

.github/workflows/SpellCheck.yaml

@@ -20,3 +20,4 @@ jobs:
           local-cspell-json: .github/workflows/custom_spell.json
           dict-packages: |
             https://github.com/tier4/cspell-dicts
+          incremental-files-only: false

.github/workflows/custom_spell.json

@@ -46,6 +46,8 @@
     "Tschirnhaus",
     "walltime",
     "xerces",
-    "xercesc"
+    "xercesc",
+    "Szymon",
+    "Parapura"
   ]
 }

common/math/arithmetic/CHANGELOG.rst

@@ -21,6 +21,132 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.3.5 (2024-12-20)
+------------------
+* Merge branch 'master' into refactor/concealer-1
+* Merge branch 'master' into refactor/concealer-1
+* Merge branch 'master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.3.4 (2024-12-20)
+------------------
+* Merge branch 'master' into feature/is_in_intersection
+* Merge remote-tracking branch 'origin/master' into feature/is_in_intersection
+* Merge remote-tracking branch 'origin/master' into feature/is_in_intersection
+* Contributors: Masaya Kataoka
+
+7.3.3 (2024-12-18)
+------------------
+
+7.3.2 (2024-12-18)
+------------------
+
+7.3.1 (2024-12-17)
+------------------
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Contributors: Kotaro Yoshimoto
+
+7.3.0 (2024-12-16)
+------------------
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Contributors: Kotaro Yoshimoto, SzymonParapura
+
+7.2.0 (2024-12-16)
+------------------
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.1.0 (2024-12-16)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.0.3 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Contributors: Kotaro Yoshimoto
+
+7.0.2 (2024-12-12)
+------------------
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Contributors: Masaya Kataoka, Taiga
+
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

common/math/arithmetic/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>7.0.0</version>
+  <version>7.3.5</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

common/math/geometry/CHANGELOG.rst

@@ -21,6 +21,156 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.3.5 (2024-12-20)
+------------------
+* Merge branch 'master' into refactor/concealer-1
+* Merge branch 'master' into refactor/concealer-1
+* Merge branch 'master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Merge remote-tracking branch 'origin/master' into refactor/concealer-1
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.3.4 (2024-12-20)
+------------------
+* Merge branch 'master' into feature/is_in_intersection
+* Merge remote-tracking branch 'origin/master' into feature/is_in_intersection
+* Merge remote-tracking branch 'origin/master' into feature/is_in_intersection
+* Contributors: Masaya Kataoka
+
+7.3.3 (2024-12-18)
+------------------
+
+7.3.2 (2024-12-18)
+------------------
+
+7.3.1 (2024-12-17)
+------------------
+* Merge pull request `#1475 <https://github.com/tier4/scenario_simulator_v2/issues/1475>`_ from tier4/fix/math-closest-point
+  Fix bug in `math::geometry::getClosestPoses`
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Merge branch 'master' into fix/math-closest-point
+* Fix spell mistake
+* Fix getClosestPoses with naive algorithm
+* Apply clang-format
+* Add some test cases for getClosestPoses
+* Contributors: Kotaro Yoshimoto, f0reachARR
+
+7.3.0 (2024-12-16)
+------------------
+* Merge pull request `#1481 <https://github.com/tier4/scenario_simulator_v2/issues/1481>`_ from tier4/feature/multi-level-lanelet-support
+  Feature/multi level lanelet support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* ref(traffic_simulator, simple_sensor_simulator): refactor altitude checks
+* Refactor code to improve readability based on SonarQube findings
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Remove comment
+* Merge branch 'master' into feature/multi-level-lanelet-support
+* Fix missing newline at end of file
+* [RJD-1369] Improve Collision Solving for Multi-Level Support
+  - Enhanced BehaviorTree to consider altitude when detecting potential obstacles,
+  allowing to ignore objects located at different altitudes.
+  - Modified the detection sensor by introducing Ego plane determination to exclude objects below the Ego plane,
+  preventing unnecessary slowing or stopping caused by incorrect detections.
+* Contributors: Dawid Moszynski, Kotaro Yoshimoto, SzymonParapura
+
+7.2.0 (2024-12-16)
+------------------
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge branch 'master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Merge remote-tracking branch 'origin/RJD-736/autoware_msgs_support' into RJD-736/autoware_msgs_support_and_localization_sim_mode_support
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.1.0 (2024-12-16)
+------------------
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Cleanup
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Add new static member function `RelativeSpeedCondition::evaluate`
+* Merge branch 'master' into feature/time-to-collision-condition
+* Merge remote-tracking branch 'origin/master' into feature/time-to-collision-condition
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
+7.0.3 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Merge branch 'master' into fix/request-enable-autoware-control
+* Contributors: Kotaro Yoshimoto
+
+7.0.2 (2024-12-12)
+------------------
+* Merge pull request `#1470 <https://github.com/tier4/scenario_simulator_v2/issues/1470>`_ from tier4/fix/snor-cloud-issue-8-1
+  Fix/sonor cloud issue 8-1
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Fixed bugs and added comments.
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Merge branch 'master' into fix/snor-cloud-issue-8-1
+* Remove the commented out code.
+  Replace this declaration by a structured binding declaration.
+* Contributors: Masaya Kataoka, Taiga, Taiga Takano
+
+7.0.1 (2024-12-11)
+------------------
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Merge branch 'master' into feature/act-starttrigger-optional
+* Contributors: Kotaro Yoshimoto, ぐるぐる
+
 7.0.0 (2024-12-10)
 ------------------
 * Merge remote-tracking branch 'origin/master' into RJD-736/autoware_msgs_support

common/math/geometry/include/geometry/plane.hpp

@@ -0,0 +1,45 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef GEOMETRY__PLANE_HPP_
+#define GEOMETRY__PLANE_HPP_
+
+#include <geometry_msgs/msg/point.hpp>
+#include <geometry_msgs/msg/vector3.hpp>
+#include <optional>
+
+namespace math
+{
+namespace geometry
+{
+
+/// @class Plane
+/// @brief Represents a plane in 3D space, defined by a normal vector and a point on the plane.
+///
+/// The plane is described using the equation:
+///     Ax + By + Cz + D = 0
+/// where:
+/// - A, B, C are the components of the normal vector (normal_ attribute).
+/// - D is the offset from the origin, calculated using the point and normal vector (d_ attribute).
+struct Plane
+{
+  Plane(const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Vector3 & normal);
+  auto offset(const geometry_msgs::msg::Point & point) const -> double;
+
+  const geometry_msgs::msg::Vector3 normal_;
+  const double d_;
+};
+}  // namespace geometry
+}  // namespace math
+#endif  // GEOMETRY__PLANE_HPP_