Added namespace

Signed-off-by: Shintaro Sakoda <[email protected]>
autowarefoundation · Nov 13, 2023 · 9110793 · 9110793
1 parent 32b3179
commit 9110793
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Showing 3 changed files with 14 additions and 3 deletions.
diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -148,12 +148,13 @@ bool ArTagBasedLocalizer::setup()
 
 void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg)
 {
-  const std::vector<Landmark> landmarks = parse_landmarks(msg, "apriltag_16h5", this->get_logger());
-  for (const Landmark & landmark : landmarks) {
+  const std::vector<landmark_manager::Landmark> landmarks =
+    landmark_manager::parse_landmarks(msg, "apriltag_16h5", this->get_logger());
+  for (const landmark_manager::Landmark & landmark : landmarks) {
     landmark_map_[landmark.id] = landmark.pose;
   }
 
-  const MarkerArray marker_msg = convert_landmarks_to_marker_array_msg(landmarks);
+  const MarkerArray marker_msg = landmark_manager::convert_landmarks_to_marker_array_msg(landmarks);
   marker_pub_->publish(marker_msg);
 }
 

diff --git a/...n/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp b/...n/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp
@@ -25,6 +25,9 @@
 #include <map>
 #include <string>
 
+namespace landmark_manager
+{
+
 struct Landmark
 {
   std::string id;
@@ -38,4 +41,6 @@ std::vector<Landmark> parse_landmarks(
 visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg(
   const std::vector<Landmark> & landmarks);
 
+}  // namespace landmark_manager
+
 #endif  // LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_
diff --git a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp
@@ -22,6 +22,9 @@
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/primitives/Polygon.h>
 
+namespace landmark_manager
+{
+
 std::vector<Landmark> parse_landmarks(
   const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
   const std::string & target_subtype, const rclcpp::Logger & logger)
@@ -153,3 +156,5 @@ visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg(
   }
   return marker_array;
 }
+
+}  // namespace landmark_manager