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refactor(universe_utils/motion_utils): add autoware namespace #1344

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Jun 20, 2024
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refactor(universe_utils/motion_utils): add autoware namespace #1344

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e580454
refactor(universe_utils): add autoware namespace
kosuke55 Jun 19, 2024
4a11c10
refactor(motion_utils): add autoware namespace
kosuke55 Jun 19, 2024
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2 changes: 1 addition & 1 deletion common/autoware_grid_map_utils/test/benchmark.cpp
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Expand Up @@ -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 =
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4 changes: 2 additions & 2 deletions common/autoware_motion_utils/include/autoware/motion_utils/constants.hpp
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Expand Up @@ -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_
4 changes: 2 additions & 2 deletions common/autoware_motion_utils/include/autoware/motion_utils/distance/distance.hpp
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Expand Up @@ -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_
4 changes: 2 additions & 2 deletions .../autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp
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Expand Up @@ -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;
Expand All @@ -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_
4 changes: 2 additions & 2 deletions common/autoware_motion_utils/include/autoware/motion_utils/marker/marker_helper.hpp
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Expand Up @@ -21,7 +21,7 @@

#include <string>

namespace autoware_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 autoware_motion_utils
} // namespace autoware::motion_utils

#endif // AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
4 changes: 2 additions & 2 deletions ...utoware_motion_utils/include/autoware/motion_utils/marker/virtual_wall_marker_creator.hpp
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Expand Up @@ -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
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 autoware_motion_utils
} // namespace autoware::motion_utils

#endif // AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
4 changes: 2 additions & 2 deletions common/autoware_motion_utils/include/autoware/motion_utils/resample/resample.hpp
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Expand Up @@ -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
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 autoware_motion_utils
} // namespace autoware::motion_utils

#endif // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
26 changes: 13 additions & 13 deletions common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp
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Expand Up @@ -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;
}
Expand All @@ -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;
}

Expand All @@ -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;
}

Expand Down
4 changes: 2 additions & 2 deletions common/autoware_motion_utils/include/autoware/motion_utils/trajectory/conversion.hpp
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Expand Up @@ -23,7 +23,7 @@

#include <vector>

namespace autoware_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 autoware_motion_utils
} // namespace autoware::motion_utils

#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
16 changes: 8 additions & 8 deletions common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp
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Expand Up @@ -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
Expand Down Expand Up @@ -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_
4 changes: 2 additions & 2 deletions common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_with_lane_id.hpp
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Expand Up @@ -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);
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 autoware_motion_utils
} // namespace autoware::motion_utils

#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
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