refactor(evaluators, autoware_universe_utils): rename Stat class to A…

…ccumulator and move it to autoware_universe_utils (#9459) * add Accumulator class to autoware_universe_utils Signed-off-by: xtk8532704 <[email protected]> * use Accumulator on all evaluators. Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> * found and fixed a bug. add more tests. Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp Co-authored-by: Kosuke Takeuchi <[email protected]> Signed-off-by: xtk8532704 <[email protected]> --------- Signed-off-by: xtk8532704 <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]>
autowarefoundation · Nov 27, 2024 · 12a86f6 · 12a86f6
1 parent f23916f
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diff --git a/...lude/autoware/planning_evaluator/stat.hpp → ...oware/universe_utils/math/accumulator.hpp b/...lude/autoware/planning_evaluator/stat.hpp → ...oware/universe_utils/math/accumulator.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2021-2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,17 +15,17 @@
 #include <iostream>
 #include <limits>
 
-#ifndef AUTOWARE__PLANNING_EVALUATOR__STAT_HPP_
-#define AUTOWARE__PLANNING_EVALUATOR__STAT_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__ACCUMULATOR_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__ACCUMULATOR_HPP_
 
-namespace planning_diagnostics
+namespace autoware::universe_utils
 {
 /**
- * @brief class to incrementally build statistics
+ * @brief class to accumulate statistical data, supporting min, max and mean.
  * @typedef T type of the values (default to double)
  */
 template <typename T = double>
-class Stat
+class Accumulator
 {
 public:
   /**
@@ -65,11 +65,11 @@ class Stat
   unsigned int count() const { return count_; }
 
   template <typename U>
-  friend std::ostream & operator<<(std::ostream & os, const Stat<U> & stat);
+  friend std::ostream & operator<<(std::ostream & os, const Accumulator<U> & accumulator);
 
 private:
   T min_ = std::numeric_limits<T>::max();
-  T max_ = std::numeric_limits<T>::min();
+  T max_ = std::numeric_limits<T>::lowest();
   long double mean_ = 0.0;
   unsigned int count_ = 0;
 };
@@ -78,16 +78,16 @@ class Stat
  * @brief overload << operator for easy print to output stream
  */
 template <typename T>
-std::ostream & operator<<(std::ostream & os, const Stat<T> & stat)
+std::ostream & operator<<(std::ostream & os, const Accumulator<T> & accumulator)
 {
-  if (stat.count() == 0) {
+  if (accumulator.count() == 0) {
     os << "None None None";
   } else {
-    os << stat.min() << " " << stat.max() << " " << stat.mean();
+    os << accumulator.min() << " " << accumulator.max() << " " << accumulator.mean();
   }
   return os;
 }
 
-}  // namespace planning_diagnostics
+}  // namespace autoware::universe_utils
 
-#endif  // AUTOWARE__PLANNING_EVALUATOR__STAT_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__ACCUMULATOR_HPP_
diff --git a/common/autoware_universe_utils/test/src/math/test_accumulator.cpp b/common/autoware_universe_utils/test/src/math/test_accumulator.cpp
@@ -0,0 +1,64 @@
+// Copyright 2024 Tier IV, Inc.
+//
+// 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.
+
+#include "autoware/universe_utils/math/accumulator.hpp"
+
+#include <gtest/gtest.h>
+
+TEST(accumulator, empty)
+{
+  autoware::universe_utils::Accumulator<double> acc;
+
+  EXPECT_DOUBLE_EQ(acc.mean(), 0.0);
+  EXPECT_DOUBLE_EQ(acc.min(), std::numeric_limits<double>::max());
+  EXPECT_DOUBLE_EQ(acc.max(), std::numeric_limits<double>::lowest());
+  EXPECT_EQ(acc.count(), 0);
+}
+
+TEST(accumulator, addValues)
+{
+  autoware::universe_utils::Accumulator<double> acc;
+  acc.add(100.0);
+
+  EXPECT_DOUBLE_EQ(acc.mean(), 100.0);
+  EXPECT_DOUBLE_EQ(acc.min(), 100.0);
+  EXPECT_DOUBLE_EQ(acc.max(), 100.0);
+  EXPECT_EQ(acc.count(), 1);
+}
+
+TEST(accumulator, positiveValues)
+{
+  autoware::universe_utils::Accumulator<double> acc;
+  acc.add(10.0);
+  acc.add(40.0);
+  acc.add(10.0);
+
+  EXPECT_DOUBLE_EQ(acc.mean(), 20.0);
+  EXPECT_DOUBLE_EQ(acc.min(), 10.0);
+  EXPECT_DOUBLE_EQ(acc.max(), 40.0);
+  EXPECT_EQ(acc.count(), 3);
+}
+
+TEST(accumulator, negativeValues)
+{
+  autoware::universe_utils::Accumulator<double> acc;
+  acc.add(-10.0);
+  acc.add(-40.0);
+  acc.add(-10.0);
+
+  EXPECT_DOUBLE_EQ(acc.mean(), -20.0);
+  EXPECT_DOUBLE_EQ(acc.min(), -40.0);
+  EXPECT_DOUBLE_EQ(acc.max(), -10.0);
+  EXPECT_EQ(acc.count(), 3);
+}
diff --git a/evaluator/autoware_planning_evaluator/README.md b/evaluator/autoware_planning_evaluator/README.md
@@ -20,7 +20,7 @@ which is also responsible for calculating metrics.
 
 ### Stat
 
-Each metric is calculated using a `Stat` instance which contains
+Each metric is calculated using a `autoware::universe_utils::Accumulator` instance which contains
 the minimum, maximum, and mean values calculated for the metric
 as well as the number of values measured.
 
@@ -35,7 +35,7 @@ The `MetricsCalculator` is responsible for calculating metric statistics
 through calls to function:
 
 ```C++
-Stat<double> MetricsCalculator::calculate(const Metric metric, const Trajectory & traj) const;
+Accumulator<double> MetricsCalculator::calculate(const Metric metric, const Trajectory & traj) const;
 ```
 
 Adding a new metric `M` requires the following steps:

diff --git a/...ware_planning_evaluator/include/autoware/planning_evaluator/metrics/deviation_metrics.hpp b/...ware_planning_evaluator/include/autoware/planning_evaluator/metrics/deviation_metrics.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 #define AUTOWARE__PLANNING_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 
-#include "autoware/planning_evaluator/stat.hpp"
+#include "autoware/universe_utils/math/accumulator.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
@@ -24,6 +24,7 @@ namespace planning_diagnostics
 {
 namespace metrics
 {
+using autoware::universe_utils::Accumulator;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using geometry_msgs::msg::Point;
@@ -35,47 +36,47 @@ using geometry_msgs::msg::Pose;
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcLateralDeviation(const Trajectory & ref, const Trajectory & traj);
+Accumulator<double> calcLateralDeviation(const Trajectory & ref, const Trajectory & traj);
 
 /**
  * @brief calculate yaw deviation of the given trajectory from the reference trajectory
  * @param [in] ref reference trajectory
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcYawDeviation(const Trajectory & ref, const Trajectory & traj);
+Accumulator<double> calcYawDeviation(const Trajectory & ref, const Trajectory & traj);
 
 /**
  * @brief calculate velocity deviation of the given trajectory from the reference trajectory
  * @param [in] ref reference trajectory
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj);
+Accumulator<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj);
 
 /**
  * @brief calculate longitudinal deviation of the given ego pose from the modified goal pose
  * @param [in] base_pose base pose
  * @param [in] target_point target point
  * @return calculated statistics
  */
-Stat<double> calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point);
+Accumulator<double> calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point);
 
 /**
  * @brief calculate lateral deviation of the given ego pose from the modified goal pose
  * @param [in] base_pose base pose
  * @param [in] target_point target point
  * @return calculated statistics
  */
-Stat<double> calcLateralDeviation(const Pose & base_pose, const Point & target_point);
+Accumulator<double> calcLateralDeviation(const Pose & base_pose, const Point & target_point);
 
 /**
  * @brief calculate yaw deviation of the given ego pose from the modified goal pose
  * @param [in] base_pose base pose
  * @param [in] target_pose target pose
  * @return calculated statistics
  */
-Stat<double> calcYawDeviation(const Pose & base_pose, const Pose & target_pose);
+Accumulator<double> calcYawDeviation(const Pose & base_pose, const Pose & target_pose);
 
 }  // namespace metrics
 }  // namespace planning_diagnostics

diff --git a/...autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/metrics_utils.hpp b/...autoware_planning_evaluator/include/autoware/planning_evaluator/metrics/metrics_utils.hpp
@@ -15,8 +15,6 @@
 #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__METRICS_UTILS_HPP_
 #define AUTOWARE__PLANNING_EVALUATOR__METRICS__METRICS_UTILS_HPP_
 
-#include "autoware/planning_evaluator/stat.hpp"
-
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 

diff --git a/...oware_planning_evaluator/include/autoware/planning_evaluator/metrics/obstacle_metrics.hpp b/...oware_planning_evaluator/include/autoware/planning_evaluator/metrics/obstacle_metrics.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__OBSTACLE_METRICS_HPP_
 #define AUTOWARE__PLANNING_EVALUATOR__METRICS__OBSTACLE_METRICS_HPP_
 
-#include "autoware/planning_evaluator/stat.hpp"
+#include "autoware/universe_utils/math/accumulator.hpp"
 
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -24,6 +24,7 @@ namespace planning_diagnostics
 {
 namespace metrics
 {
+using autoware::universe_utils::Accumulator;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::Trajectory;
 
@@ -33,7 +34,8 @@ using autoware_planning_msgs::msg::Trajectory;
  * @param [in] traj trajectory
  * @return calculated statistics
  */
-Stat<double> calcDistanceToObstacle(const PredictedObjects & obstacles, const Trajectory & traj);
+Accumulator<double> calcDistanceToObstacle(
+  const PredictedObjects & obstacles, const Trajectory & traj);
 
 /**
  * @brief calculate the time to collision of the trajectory with the given obstacles
@@ -42,7 +44,7 @@ Stat<double> calcDistanceToObstacle(const PredictedObjects & obstacles, const Tr
  * @param [in] traj trajectory
  * @return calculated statistics
  */
-Stat<double> calcTimeToCollision(
+Accumulator<double> calcTimeToCollision(
   const PredictedObjects & obstacles, const Trajectory & traj, const double distance_threshold);
 
 }  // namespace metrics

diff --git a/...ware_planning_evaluator/include/autoware/planning_evaluator/metrics/stability_metrics.hpp b/...ware_planning_evaluator/include/autoware/planning_evaluator/metrics/stability_metrics.hpp
@@ -15,14 +15,15 @@
 #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__STABILITY_METRICS_HPP_
 #define AUTOWARE__PLANNING_EVALUATOR__METRICS__STABILITY_METRICS_HPP_
 
-#include "autoware/planning_evaluator/stat.hpp"
+#include "autoware/universe_utils/math/accumulator.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 
 namespace planning_diagnostics
 {
 namespace metrics
 {
+using autoware::universe_utils::Accumulator;
 using autoware_planning_msgs::msg::Trajectory;
 
 /**
@@ -31,15 +32,15 @@ using autoware_planning_msgs::msg::Trajectory;
  * @param [in] traj2 second trajectory
  * @return calculated statistics
  */
-Stat<double> calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2);
+Accumulator<double> calcFrechetDistance(const Trajectory & traj1, const Trajectory & traj2);
 
 /**
  * @brief calculate the lateral distance between two trajectories
  * @param [in] traj1 first trajectory
  * @param [in] traj2 second trajectory
  * @return calculated statistics
  */
-Stat<double> calcLateralDistance(const Trajectory & traj1, const Trajectory & traj2);
+Accumulator<double> calcLateralDistance(const Trajectory & traj1, const Trajectory & traj2);
 
 }  // namespace metrics
 }  // namespace planning_diagnostics

diff --git a/...are_planning_evaluator/include/autoware/planning_evaluator/metrics/trajectory_metrics.hpp b/...are_planning_evaluator/include/autoware/planning_evaluator/metrics/trajectory_metrics.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__PLANNING_EVALUATOR__METRICS__TRAJECTORY_METRICS_HPP_
 #define AUTOWARE__PLANNING_EVALUATOR__METRICS__TRAJECTORY_METRICS_HPP_
 
-#include "autoware/planning_evaluator/stat.hpp"
+#include "autoware/universe_utils/math/accumulator.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
@@ -24,6 +24,7 @@ namespace planning_diagnostics
 {
 namespace metrics
 {
+using autoware::universe_utils::Accumulator;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 
@@ -33,56 +34,57 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
  * @param [in] min_dist_threshold minimum distance between successive points
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryRelativeAngle(const Trajectory & traj, const double min_dist_threshold);
+Accumulator<double> calcTrajectoryRelativeAngle(
+  const Trajectory & traj, const double min_dist_threshold);
 
 /**
  * @brief calculate metric for the distance between trajectory points
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryInterval(const Trajectory & traj);
+Accumulator<double> calcTrajectoryInterval(const Trajectory & traj);
 
 /**
  * @brief calculate curvature metric
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryCurvature(const Trajectory & traj);
+Accumulator<double> calcTrajectoryCurvature(const Trajectory & traj);
 
 /**
  * @brief calculate length of the trajectory [m]
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryLength(const Trajectory & traj);
+Accumulator<double> calcTrajectoryLength(const Trajectory & traj);
 
 /**
  * @brief calculate duration of the trajectory [s]
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryDuration(const Trajectory & traj);
+Accumulator<double> calcTrajectoryDuration(const Trajectory & traj);
 
 /**
  * @brief calculate velocity metrics for the trajectory
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryVelocity(const Trajectory & traj);
+Accumulator<double> calcTrajectoryVelocity(const Trajectory & traj);
 
 /**
  * @brief calculate acceleration metrics for the trajectory
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryAcceleration(const Trajectory & traj);
+Accumulator<double> calcTrajectoryAcceleration(const Trajectory & traj);
 
 /**
  * @brief calculate jerk metrics for the trajectory
  * @param [in] traj input trajectory
  * @return calculated statistics
  */
-Stat<double> calcTrajectoryJerk(const Trajectory & traj);
+Accumulator<double> calcTrajectoryJerk(const Trajectory & traj);
 
 }  // namespace metrics
 }  // namespace planning_diagnostics