Merge pull request #1344 from tier4/refactor/autoware_ns_beta

refactor(universe_utils/motion_utils): add autoware namespace
tier4 · Jun 20, 2024 · 46adcc6 · 46adcc6
2 parents 87156a0 + 4a11c10
commit 46adcc6
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Showing 627 changed files with 4,201 additions and 4,161 deletions.
diff --git a/common/autoware_grid_map_utils/test/benchmark.cpp b/common/autoware_grid_map_utils/test/benchmark.cpp
@@ -46,7 +46,7 @@ int main(int argc, char * argv[])
   result_file
     << "#Size PolygonVertices PolygonIndexes grid_map_utils_constructor grid_map_utils_iteration "
        "grid_map_constructor grid_map_iteration\n";
-  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
+  autoware::universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
 
   constexpr auto nb_iterations = 10;
   constexpr auto polygon_side_vertices =

diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/constants.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/constants.hpp
@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
 #define AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 constexpr double overlap_threshold = 0.1;
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/distance/distance.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/distance/distance.hpp
@@ -22,12 +22,12 @@
 #include <tuple>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 std::optional<double> calcDecelDistWithJerkAndAccConstraints(
   const double current_vel, const double target_vel, const double current_acc, const double acc_min,
   const double jerk_acc, const double jerk_dec);
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_
diff --git a/.../autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp b/.../autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::VelocityFactor;
@@ -49,6 +49,6 @@ class VelocityFactorInterface
   VelocityFactor velocity_factor_{};
 };
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/marker/marker_helper.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/marker/marker_helper.hpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 using geometry_msgs::msg::Pose;
 
@@ -48,6 +48,6 @@ visualization_msgs::msg::MarkerArray createDeletedSlowDownVirtualWallMarker(
 
 visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
   const rclcpp::Time & now, const int32_t id);
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
diff --git a/...utoware_motion_utils/include/autoware/motion_utils/marker/virtual_wall_marker_creator.hpp b/...utoware_motion_utils/include/autoware/motion_utils/marker/virtual_wall_marker_creator.hpp
@@ -25,7 +25,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 
 /// @brief type of virtual wall associated with different marker styles and namespace
@@ -76,6 +76,6 @@ class VirtualWallMarkerCreator
   /// @param now current time to be used for displaying the markers
   visualization_msgs::msg::MarkerArray create_markers(const rclcpp::Time & now = rclcpp::Time());
 };
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/resample/resample.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/resample/resample.hpp
@@ -21,7 +21,7 @@
 
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 /**
  * @brief A resampling function for a path(points). Note that in a default setting, position xy are
@@ -234,6 +234,6 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
   const bool use_akima_spline_for_xy = false, const bool use_lerp_for_z = true,
   const bool use_zero_order_hold_for_twist = true,
   const bool resample_input_trajectory_stop_point = true);
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp
@@ -42,17 +42,17 @@ bool validate_size(const T & points)
 template <class T>
 bool validate_resampling_range(const T & points, const std::vector<double> & resampling_intervals)
 {
-  const double points_length = autoware_motion_utils::calcArcLength(points);
+  const double points_length = autoware::motion_utils::calcArcLength(points);
   return points_length >= resampling_intervals.back();
 }
 
 template <class T>
 bool validate_points_duplication(const T & points)
 {
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pt = autoware_universe_utils::getPoint(points.at(i));
-    const auto & next_pt = autoware_universe_utils::getPoint(points.at(i + 1));
-    const double ds = autoware_universe_utils::calcDistance2d(curr_pt, next_pt);
+    const auto & curr_pt = autoware::universe_utils::getPoint(points.at(i));
+    const auto & next_pt = autoware::universe_utils::getPoint(points.at(i + 1));
+    const double ds = autoware::universe_utils::calcDistance2d(curr_pt, next_pt);
     if (ds < close_s_threshold) {
       return false;
     }
@@ -67,27 +67,27 @@ bool validate_arguments(const T & input_points, const std::vector<double> & resa
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
   if (!validate_size(resampling_intervals)) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: The number of resampling intervals is less than 2");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // Check resampling range
   if (!validate_resampling_range(input_points, resampling_intervals)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
@@ -100,23 +100,23 @@ bool validate_arguments(const T & input_points, const double resampling_interval
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // check resampling interval
-  if (resampling_interval < autoware_motion_utils::overlap_threshold) {
+  if (resampling_interval < autoware::motion_utils::overlap_threshold) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: resampling interval is less than %f",
-      autoware_motion_utils::overlap_threshold);
-    autoware_universe_utils::print_backtrace();
+      autoware::motion_utils::overlap_threshold);
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 

diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/conversion.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/conversion.hpp
@@ -23,7 +23,7 @@
 
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 using TrajectoryPoints = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;
 
@@ -115,6 +115,6 @@ inline tier4_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
   return output;
 }
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp
@@ -25,7 +25,7 @@
 #include <algorithm>
 #include <limits>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 /**
  * @brief An interpolation function that finds the closest interpolated point on the trajectory from
@@ -73,24 +73,24 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
   }
 
   if (points.size() < 2 || target_length < 0.0) {
-    return autoware_universe_utils::getPose(points.front());
+    return autoware::universe_utils::getPose(points.front());
   }
 
   double accumulated_length = 0;
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pose = autoware_universe_utils::getPose(points.at(i));
-    const auto & next_pose = autoware_universe_utils::getPose(points.at(i + 1));
-    const double length = autoware_universe_utils::calcDistance3d(curr_pose, next_pose);
+    const auto & curr_pose = autoware::universe_utils::getPose(points.at(i));
+    const auto & next_pose = autoware::universe_utils::getPose(points.at(i + 1));
+    const double length = autoware::universe_utils::calcDistance3d(curr_pose, next_pose);
     if (accumulated_length + length > target_length) {
       const double ratio = (target_length - accumulated_length) / std::max(length, 1e-6);
-      return autoware_universe_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
+      return autoware::universe_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
     }
     accumulated_length += length;
   }
 
-  return autoware_universe_utils::getPose(points.back());
+  return autoware::universe_utils::getPose(points.back());
 }
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_with_lane_id.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_with_lane_id.hpp
@@ -20,7 +20,7 @@
 
 #include <optional>
 #include <utility>
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
@@ -41,6 +41,6 @@ size_t findNearestSegmentIndexFromLaneId(
 tier4_planning_msgs::msg::PathWithLaneId convertToRearWheelCenter(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const double rear_to_cog,
   const bool enable_last_point_compensation = true);
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_