solve merge issues

Signed-off-by: Daniel Sanchez <[email protected]>
tier4 · Sep 11, 2024 · 40b2e28 · 40b2e28
1 parent 7684b56
commit 40b2e28
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Showing 4 changed files with 8 additions and 10 deletions.
diff --git a/...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
@@ -328,9 +328,9 @@ class AEB : public rclcpp::Node
   autoware::universe_utils::InterProcessPollingSubscriber<Imu> sub_imu_{this, "~/input/imu"};
   autoware::universe_utils::InterProcessPollingSubscriber<Trajectory> sub_predicted_traj_{
     this, "~/input/predicted_trajectory"};
-  autoware_universe_utils::InterProcessPollingSubscriber<PredictedObjects> predicted_objects_sub_{
+  autoware::universe_utils::InterProcessPollingSubscriber<PredictedObjects> predicted_objects_sub_{
     this, "~/input/objects"};
-  autoware_universe_utils::InterProcessPollingSubscriber<AutowareState> sub_autoware_state_{
+  autoware::universe_utils::InterProcessPollingSubscriber<AutowareState> sub_autoware_state_{
     this, "/autoware/state"};
   // publisher
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_obstacle_pointcloud_;

diff --git a/...ware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp b/...ware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp
@@ -37,11 +37,10 @@
 
 namespace autoware::motion::control::autonomous_emergency_braking::utils
 {
+using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
-using autoware_universe_utils::Point2d;
-using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::TransformStamped;

diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -700,7 +700,7 @@ void AEB::createObjectDataUsingPredictedObjects(
   const auto current_p = [&]() {
     const auto & first_point_of_path = ego_path.front();
     const auto & p = first_point_of_path.position;
-    return autoware_universe_utils::createPoint(p.x, p.y, p.z);
+    return autoware::universe_utils::createPoint(p.x, p.y, p.z);
   }();
 
   auto get_object_tangent_velocity =
@@ -710,7 +710,7 @@ void AEB::createObjectDataUsingPredictedObjects(
         predicted_object.kinematics.initial_twist_with_covariance.twist.linear.y);
 
       const auto obj_yaw = tf2::getYaw(obj_pose.orientation);
-      const auto obj_idx = autoware_motion_utils::findNearestIndex(ego_path, obj_pose.position);
+      const auto obj_idx = motion_utils::findNearestIndex(ego_path, obj_pose.position);
       const auto path_yaw = (current_ego_speed > 0.0)
                               ? tf2::getYaw(ego_path.at(obj_idx).orientation)
                               : tf2::getYaw(ego_path.at(obj_idx).orientation) + M_PI;
@@ -741,9 +741,9 @@ void AEB::createObjectDataUsingPredictedObjects(
       bool collision_points_added{false};
       for (const auto & collision_point : collision_points_bg) {
         const auto obj_position =
-          autoware_universe_utils::createPoint(collision_point.x(), collision_point.y(), 0.0);
+          autoware::universe_utils::createPoint(collision_point.x(), collision_point.y(), 0.0);
         const double obj_arc_length =
-          autoware_motion_utils::calcSignedArcLength(ego_path, current_p, obj_position);
+          motion_utils::calcSignedArcLength(ego_path, current_p, obj_position);
         if (std::isnan(obj_arc_length)) continue;
 
         // If the object is behind the ego, we need to use the backward long offset. The

diff --git a/control/autoware_autonomous_emergency_braking/src/utils.cpp b/control/autoware_autonomous_emergency_braking/src/utils.cpp
@@ -18,11 +18,10 @@
 
 namespace autoware::motion::control::autonomous_emergency_braking::utils
 {
+using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
-using autoware_universe_utils::Point2d;
-using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::TransformStamped;