Merge remote-tracking branch 'origin/master' into RJD-1057-remove-fun…

…ctions-forwarded-to-entity-base-middle
tier4 · Dec 9, 2024 · a0a0cb5 · a0a0cb5
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,17 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache 2.0</license>

diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,17 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>map package for simple cross</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>C++ mock scenarios</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,17 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>6.2.3</version>
+  <version>6.2.5</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,25 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+6.2.5 (2024-12-09)
+------------------
+* Merge branch 'master' into fix/acc_by_slope
+* Contributors: Kotaro Yoshimoto
+
+6.2.4 (2024-12-09)
+------------------
+* Merge pull request `#1469 <https://github.com/tier4/scenario_simulator_v2/issues/1469>`_ from tier4/refactor/speed-condition
+  Refactor/speed condition
+* Add comment about element that may confuse readers
+* Merge branch 'master' into refactor/speed-condition
+* Merge branch 'master' into refactor/speed-condition
+* Update `SpeedCondition` to use `SpeedCondition::evaluate` instead of `evaluateSpeed`
+* Update `SpeedProfileAction` to use `SpeedCondition::evaluate` instead of `evaluateSpeed`
+* Update `SpeedAction` to use `SpeedCondition::evaluate` instead of `evaluateSpeed`
+* Update `SpeedCondition` to support `DirectionalDimension`
+* Update `evaluateSpeed` to return `Eigen::Vector3d` instead of `double`
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 6.2.3 (2024-12-05)
 ------------------
 * Merge branch 'master' into fix/sonor-cloud-issue-8-2

diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp
@@ -610,7 +610,16 @@ class SimulatorCore
 
     static auto evaluateSpeed(const std::string & name)
     {
-      return core->getEntity(name)->getCurrentTwist().linear.x;
+      /*
+         The function name "evaluateSpeed" stands for "evaluate SpeedCondition"
+         and is a part used to implement `SpeedCondition::evaluate`.
+         SpeedCondition can be evaluated in three directions: longitudinal,
+         lateral, and vertical, based on the attribute direction. Therefore,
+         please note that this function returns velocity, that is, a vector,
+         rather than speed, contrary to the name "evaluateSpeed".
+      */
+      const auto linear = core->getEntity(name)->getCurrentTwist().linear;
+      return Eigen::Vector3d(linear.x, linear.y, linear.z);
     }
 
     static auto evaluateStandStill(const std::string & name)

diff --git a/...cenario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_action.hpp b/...cenario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_action.hpp
@@ -38,8 +38,7 @@ inline namespace syntax
  *
  * -------------------------------------------------------------------------- */
 struct SpeedAction : private Scope,  // NOTE: Required for access to actors
-                     private SimulatorCore::ActionApplication,
-                     private SimulatorCore::ConditionEvaluation
+                     private SimulatorCore::ActionApplication
 {
   const TransitionDynamics speed_action_dynamics;