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refactor(motion_utils)!: add autoware prefix and include dir (autowar…
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…efoundation#7539)

refactor(motion_utils): add autoware prefix and include dir

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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kosuke55 authored Jun 18, 2024
1 parent 7a3e6ed commit ad1be18
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Showing 333 changed files with 1,856 additions and 1,727 deletions.
2 changes: 1 addition & 1 deletion .github/CODEOWNERS
Validating CODEOWNERS rules …
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Expand Up @@ -19,7 +19,7 @@ common/goal_distance_calculator/** taiki.tanaka@tier4.jp
common/autoware_grid_map_utils/** maxime.clement@tier4.jp
common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
common/object_recognition_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
common/path_distance_calculator/** isamu.takagi@tier4.jp
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4 changes: 2 additions & 2 deletions common/.pages
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Expand Up @@ -15,8 +15,8 @@ nav:
- 'Glog Component': common/glog_component
- 'interpolation': common/interpolation
- 'Kalman Filter': common/kalman_filter
- 'Motion Utils': common/motion_utils
- 'Vehicle Utils': common/motion_utils/docs/vehicle/vehicle
- 'Motion Utils': common/autoware_motion_utils
- 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle
- 'Object Recognition Utils': common/object_recognition_utils
- 'OSQP Interface': common/osqp_interface/design/osqp_interface-design
- 'Perception Utils': common/perception_utils
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2 changes: 1 addition & 1 deletion common/README.md
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Expand Up @@ -13,4 +13,4 @@ The Autoware.Universe Common folder consists of common and testing libraries tha
Some of the commonly used libraries are:

1. `autoware_universe_utils`
2. `motion_utils`
2. `autoware_motion_utils`
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@@ -1,12 +1,12 @@
cmake_minimum_required(VERSION 3.14)
project(motion_utils)
project(autoware_motion_utils)

find_package(autoware_cmake REQUIRED)
autoware_package()

find_package(Boost REQUIRED)

ament_auto_add_library(motion_utils SHARED
ament_auto_add_library(autoware_motion_utils SHARED
DIRECTORY src
)

Expand All @@ -15,10 +15,10 @@ if(BUILD_TESTING)

file(GLOB_RECURSE test_files test/**/*.cpp)

ament_add_ros_isolated_gtest(test_motion_utils ${test_files})
ament_add_ros_isolated_gtest(test_autoware_motion_utils ${test_files})

target_link_libraries(test_motion_utils
motion_utils
target_link_libraries(test_autoware_motion_utils
autoware_motion_utils
)
endif()

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Expand Up @@ -114,4 +114,4 @@ const double length_from_ego_to_obj = calcSignedArcLength(points, ego_pose, ego_

Some of the template functions in `trajectory.hpp` are mostly used for specific types (`autoware_planning_msgs::msg::PathPoint`, `autoware_planning_msgs::msg::PathPoint`, `autoware_planning_msgs::msg::TrajectoryPoint`), so they are exported as `extern template` functions to speed-up compilation time.

`motion_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.
`autoware_motion_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.
File renamed without changes.
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Expand Up @@ -12,12 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__CONSTANTS_HPP_
#define MOTION_UTILS__CONSTANTS_HPP_
#ifndef AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
#define AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_

namespace motion_utils
namespace autoware_motion_utils
{
constexpr double overlap_threshold = 0.1;
} // namespace motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__CONSTANTS_HPP_
#endif // AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__DISTANCE__DISTANCE_HPP_
#define MOTION_UTILS__DISTANCE__DISTANCE_HPP_
#ifndef AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_
#define AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_

#include <algorithm>
#include <cmath>
Expand All @@ -22,12 +22,12 @@
#include <tuple>
#include <vector>

namespace 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 motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__DISTANCE__DISTANCE_HPP_
#endif // AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_
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Expand Up @@ -13,8 +13,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
#define MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
#ifndef AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
#define AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_

#include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
Expand All @@ -24,7 +24,7 @@
#include <string>
#include <vector>

namespace motion_utils
namespace autoware_motion_utils
{
using autoware_adapi_v1_msgs::msg::PlanningBehavior;
using autoware_adapi_v1_msgs::msg::VelocityFactor;
Expand All @@ -49,6 +49,6 @@ class VelocityFactorInterface
VelocityFactor velocity_factor_{};
};

} // namespace motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
#endif // AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -12,16 +12,16 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
#define MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
#ifndef AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
#define AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_

#include <rclcpp/time.hpp>

#include <visualization_msgs/msg/marker_array.hpp>

#include <string>

namespace motion_utils
namespace autoware_motion_utils
{
using geometry_msgs::msg::Pose;

Expand All @@ -48,6 +48,6 @@ visualization_msgs::msg::MarkerArray createDeletedSlowDownVirtualWallMarker(

visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
const rclcpp::Time & now, const int32_t id);
} // namespace motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
#endif // AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
#define MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
#ifndef AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
#define AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_

#include <rclcpp/time.hpp>

Expand All @@ -25,7 +25,7 @@
#include <unordered_map>
#include <vector>

namespace motion_utils
namespace autoware_motion_utils
{

/// @brief type of virtual wall associated with different marker styles and namespace
Expand Down Expand Up @@ -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 motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
#endif // AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
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Expand Up @@ -12,16 +12,16 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
#define MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
#ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
#define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_

#include "autoware_planning_msgs/msg/path.hpp"
#include "autoware_planning_msgs/msg/trajectory.hpp"
#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"

#include <vector>

namespace motion_utils
namespace autoware_motion_utils
{
/**
* @brief A resampling function for a path(points). Note that in a default setting, position xy are
Expand Down Expand Up @@ -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 motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
#endif // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
#define MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
#ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
#define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_

#include "autoware/universe_utils/system/backtrace.hpp"

#include <autoware/motion_utils/constants.hpp>
#include <autoware/motion_utils/trajectory/trajectory.hpp>
#include <autoware/universe_utils/geometry/geometry.hpp>
#include <motion_utils/constants.hpp>
#include <motion_utils/trajectory/trajectory.hpp>

#include <vector>

Expand All @@ -29,7 +29,7 @@ constexpr double close_s_threshold = 1e-6;

static inline rclcpp::Logger get_logger()
{
constexpr const char * logger{"motion_utils.resample_utils"};
constexpr const char * logger{"autoware_motion_utils.resample_utils"};
return rclcpp::get_logger(logger);
}

Expand All @@ -42,7 +42,7 @@ 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 = motion_utils::calcArcLength(points);
const double points_length = autoware_motion_utils::calcArcLength(points);
return points_length >= resampling_intervals.back();
}

Expand Down Expand Up @@ -105,10 +105,10 @@ bool validate_arguments(const T & input_points, const double resampling_interval
}

// check resampling interval
if (resampling_interval < motion_utils::overlap_threshold) {
if (resampling_interval < autoware_motion_utils::overlap_threshold) {
RCLCPP_DEBUG(
get_logger(), "invalid argument: resampling interval is less than %f",
motion_utils::overlap_threshold);
autoware_motion_utils::overlap_threshold);
autoware_universe_utils::print_backtrace();
return false;
}
Expand All @@ -124,4 +124,4 @@ bool validate_arguments(const T & input_points, const double resampling_interval
}
} // namespace resample_utils

#endif // MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
#endif // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
#define MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
#define AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_

#include "autoware_planning_msgs/msg/detail/path__struct.hpp"
#include "autoware_planning_msgs/msg/detail/trajectory__struct.hpp"
Expand All @@ -23,7 +23,7 @@

#include <vector>

namespace motion_utils
namespace autoware_motion_utils
{
using TrajectoryPoints = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;

Expand Down Expand Up @@ -115,6 +115,6 @@ inline tier4_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
return output;
}

} // namespace motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
#define MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
#define AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_

#include "autoware/universe_utils/geometry/geometry.hpp"

Expand All @@ -25,7 +25,7 @@
#include <algorithm>
#include <limits>

namespace motion_utils
namespace autoware_motion_utils
{
/**
* @brief An interpolation function that finds the closest interpolated point on the trajectory from
Expand Down Expand Up @@ -91,6 +91,6 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
return autoware_universe_utils::getPose(points.back());
}

} // namespace motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
Original file line number Diff line number Diff line change
Expand Up @@ -12,15 +12,15 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
#define MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
#define AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_

#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
#include <geometry_msgs/msg/point.hpp>

#include <optional>
#include <utility>
namespace 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);
Expand All @@ -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 motion_utils
} // namespace autoware_motion_utils

#endif // MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
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