From eff4efe6dc5d12151fbac1179c0bb74e23915cb4 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 17 Jul 2024 16:00:23 +0200 Subject: [PATCH] refactor(autoware_interpolation): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 6 +-- .../README.md | 0 .../interpolation/interpolation_utils.hpp | 10 ++--- .../interpolation/linear_interpolation.hpp | 13 +++--- .../spherical_linear_interpolation.hpp | 12 +++--- .../interpolation/spline_interpolation.hpp | 12 +++--- .../spline_interpolation_points_2d.hpp | 12 +++--- .../interpolation/zero_order_hold.hpp | 12 +++--- .../package.xml | 2 +- .../src/linear_interpolation.cpp | 6 +-- .../src/spherical_linear_interpolation.cpp | 6 +-- .../src/spline_interpolation.cpp | 6 +-- .../src/spline_interpolation_points_2d.cpp | 9 ++-- .../test/src/test_interpolation.cpp | 0 .../test/src/test_interpolation_utils.cpp | 22 +++++----- .../test/src/test_linear_interpolation.cpp | 17 ++++---- .../test_spherical_linear_interpolation.cpp | 6 +-- .../test/src/test_spline_interpolation.cpp | 42 +++++++++++-------- .../test_spline_interpolation_points_2d.cpp | 14 +++---- .../test/src/test_zero_order_hold.cpp | 32 +++++++++----- common/autoware_motion_utils/package.xml | 2 +- .../src/resample/resample.cpp | 6 +-- .../src/trajectory/interpolation.cpp | 2 +- .../src/trajectory/path_with_lane_id.cpp | 2 +- common/object_recognition_utils/package.xml | 2 +- .../src/predicted_path_utils.cpp | 6 +-- .../package.xml | 2 +- .../src/mpc.cpp | 2 +- .../src/mpc_utils.cpp | 4 +- .../longitudinal_controller_utils.hpp | 4 +- .../package.xml | 2 +- .../test_longitudinal_controller_utils.cpp | 2 +- .../package.xml | 2 +- .../include/predicted_path_checker/utils.hpp | 2 +- .../package.xml | 2 +- .../src/pose_covariance_modifier.cpp | 2 +- .../autoware_map_based_prediction/package.xml | 2 +- .../src/map_based_prediction_node.cpp | 2 +- .../src/path_generator.cpp | 2 +- .../package.xml | 2 +- .../optimization_based_planner.cpp | 6 +-- .../pid_based_planner/pid_based_planner.cpp | 2 +- .../autoware/path_optimizer/mpt_optimizer.hpp | 4 +- .../path_optimizer/utils/geometry_utils.hpp | 6 +-- .../path_optimizer/utils/trajectory_utils.hpp | 6 +-- planning/autoware_path_optimizer/package.xml | 2 +- .../src/mpt_optimizer.cpp | 2 +- planning/autoware_path_optimizer/src/node.cpp | 2 +- .../path_smoother/utils/trajectory_utils.hpp | 6 +-- planning/autoware_path_smoother/package.xml | 2 +- .../src/elastic_band_smoother.cpp | 2 +- .../package.xml | 2 +- .../src/static_centerline_generator_node.cpp | 2 +- .../autoware_velocity_smoother/package.xml | 2 +- .../velocity_planning_utils.cpp | 2 +- .../src/trajectory_utils.cpp | 2 +- .../utils/data_structs.hpp | 3 +- .../package.xml | 2 +- .../path_projection.hpp | 2 +- .../package.xml | 2 +- .../drivable_area_expansion.cpp | 2 +- .../geometric_parallel_parking.cpp | 19 ++++----- .../path_safety_checker/safety_check.cpp | 2 +- .../src/utils/path_shifter/path_shifter.cpp | 2 +- .../src/utils/path_utils.cpp | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../src/scene_intersection_prepare_data.cpp | 2 +- .../package.xml | 2 +- .../src/scene_no_stopping_area.cpp | 2 +- .../package.xml | 2 +- .../src/occlusion_spot_utils.cpp | 2 +- .../package.xml | 2 +- .../utils/geometry_utils.hpp | 6 +-- .../utils/trajectory_utils.hpp | 6 +-- .../autoware_path_sampler/package.xml | 2 +- .../autoware_path_sampler/src/node.cpp | 2 +- .../autoware_sampler_common/structures.hpp | 2 +- .../autoware_sampler_common/package.xml | 2 +- .../sim_model_delay_steer_map_acc_geared.hpp | 2 +- .../package.xml | 2 +- .../src/accel_map.cpp | 2 +- .../src/brake_map.cpp | 2 +- .../src/steer_map.cpp | 2 +- 85 files changed, 220 insertions(+), 205 deletions(-) rename common/{interpolation => autoware_interpolation}/CMakeLists.txt (80%) rename common/{interpolation => autoware_interpolation}/README.md (100%) rename common/{interpolation/include => autoware_interpolation/include/autoware}/interpolation/interpolation_utils.hpp (93%) rename common/{interpolation/include => autoware_interpolation/include/autoware}/interpolation/linear_interpolation.hpp (75%) rename common/{interpolation/include => autoware_interpolation/include/autoware}/interpolation/spherical_linear_interpolation.hpp (79%) rename common/{interpolation/include => autoware_interpolation/include/autoware}/interpolation/spline_interpolation.hpp (92%) rename common/{interpolation/include => autoware_interpolation/include/autoware}/interpolation/spline_interpolation_points_2d.hpp (90%) rename common/{interpolation/include => autoware_interpolation/include/autoware}/interpolation/zero_order_hold.hpp (89%) rename common/{interpolation => autoware_interpolation}/package.xml (95%) rename common/{interpolation => autoware_interpolation}/src/linear_interpolation.cpp (93%) rename common/{interpolation => autoware_interpolation}/src/spherical_linear_interpolation.cpp (94%) rename common/{interpolation => autoware_interpolation}/src/spline_interpolation.cpp (98%) rename common/{interpolation => autoware_interpolation}/src/spline_interpolation_points_2d.cpp (98%) rename common/{interpolation => autoware_interpolation}/test/src/test_interpolation.cpp (100%) rename common/{interpolation => autoware_interpolation}/test/src/test_interpolation_utils.cpp (85%) rename common/{interpolation => autoware_interpolation}/test/src/test_linear_interpolation.cpp (80%) rename common/{interpolation => autoware_interpolation}/test/src/test_spherical_linear_interpolation.cpp (96%) rename common/{interpolation => autoware_interpolation}/test/src/test_spline_interpolation.cpp (84%) rename common/{interpolation => autoware_interpolation}/test/src/test_spline_interpolation_points_2d.cpp (93%) rename common/{interpolation => autoware_interpolation}/test/src/test_zero_order_hold.cpp (80%) diff --git a/common/interpolation/CMakeLists.txt b/common/autoware_interpolation/CMakeLists.txt similarity index 80% rename from common/interpolation/CMakeLists.txt rename to common/autoware_interpolation/CMakeLists.txt index cc91bed012432..09797272a2ac8 100644 --- a/common/interpolation/CMakeLists.txt +++ b/common/autoware_interpolation/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 3.14) -project(interpolation) +project(autoware_interpolation) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(interpolation SHARED +ament_auto_add_library(autoware_interpolation SHARED src/linear_interpolation.cpp src/spline_interpolation.cpp src/spline_interpolation_points_2d.cpp @@ -17,7 +17,7 @@ if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_interpolation ${test_files}) target_link_libraries(test_interpolation - interpolation + autoware_interpolation ) endif() diff --git a/common/interpolation/README.md b/common/autoware_interpolation/README.md similarity index 100% rename from common/interpolation/README.md rename to common/autoware_interpolation/README.md diff --git a/common/interpolation/include/interpolation/interpolation_utils.hpp b/common/autoware_interpolation/include/autoware/interpolation/interpolation_utils.hpp similarity index 93% rename from common/interpolation/include/interpolation/interpolation_utils.hpp rename to common/autoware_interpolation/include/autoware/interpolation/interpolation_utils.hpp index 9c0372f788ecb..1c0913c8847f4 100644 --- a/common/interpolation/include/interpolation/interpolation_utils.hpp +++ b/common/autoware_interpolation/include/autoware/interpolation/interpolation_utils.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef INTERPOLATION__INTERPOLATION_UTILS_HPP_ -#define INTERPOLATION__INTERPOLATION_UTILS_HPP_ +#ifndef AUTOWARE__INTERPOLATION__INTERPOLATION_UTILS_HPP_ +#define AUTOWARE__INTERPOLATION__INTERPOLATION_UTILS_HPP_ #include #include #include #include -namespace interpolation_utils +namespace autoware::interpolation { inline bool isIncreasing(const std::vector & x) { @@ -109,6 +109,6 @@ void validateKeysAndValues( throw std::invalid_argument("The size of base_keys and base_values are not the same."); } } -} // namespace interpolation_utils +} // namespace autoware::interpolation -#endif // INTERPOLATION__INTERPOLATION_UTILS_HPP_ +#endif // AUTOWARE__INTERPOLATION__INTERPOLATION_UTILS_HPP_ diff --git a/common/interpolation/include/interpolation/linear_interpolation.hpp b/common/autoware_interpolation/include/autoware/interpolation/linear_interpolation.hpp similarity index 75% rename from common/interpolation/include/interpolation/linear_interpolation.hpp rename to common/autoware_interpolation/include/autoware/interpolation/linear_interpolation.hpp index 1f8155613111e..762806b3a5c35 100644 --- a/common/interpolation/include/interpolation/linear_interpolation.hpp +++ b/common/autoware_interpolation/include/autoware/interpolation/linear_interpolation.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef INTERPOLATION__LINEAR_INTERPOLATION_HPP_ -#define INTERPOLATION__LINEAR_INTERPOLATION_HPP_ +#ifndef AUTOWARE__INTERPOLATION__LINEAR_INTERPOLATION_HPP_ +#define AUTOWARE__INTERPOLATION__LINEAR_INTERPOLATION_HPP_ -#include "interpolation/interpolation_utils.hpp" +#include "autoware/interpolation/interpolation_utils.hpp" #include -namespace interpolation +namespace autoware::interpolation { double lerp(const double src_val, const double dst_val, const double ratio); @@ -30,7 +30,6 @@ std::vector lerp( double lerp( const std::vector & base_keys, const std::vector & base_values, const double query_key); +} // namespace autoware::interpolation -} // namespace interpolation - -#endif // INTERPOLATION__LINEAR_INTERPOLATION_HPP_ +#endif // AUTOWARE__INTERPOLATION__LINEAR_INTERPOLATION_HPP_ diff --git a/common/interpolation/include/interpolation/spherical_linear_interpolation.hpp b/common/autoware_interpolation/include/autoware/interpolation/spherical_linear_interpolation.hpp similarity index 79% rename from common/interpolation/include/interpolation/spherical_linear_interpolation.hpp rename to common/autoware_interpolation/include/autoware/interpolation/spherical_linear_interpolation.hpp index 8c1d49fb5f607..2e4a8fbd42907 100644 --- a/common/interpolation/include/interpolation/spherical_linear_interpolation.hpp +++ b/common/autoware_interpolation/include/autoware/interpolation/spherical_linear_interpolation.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_ -#define INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_ +#ifndef AUTOWARE__INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_ +#define AUTOWARE__INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_ -#include "interpolation/interpolation_utils.hpp" +#include "autoware/interpolation/interpolation_utils.hpp" #include @@ -29,7 +29,7 @@ #include -namespace interpolation +namespace autoware::interpolation { geometry_msgs::msg::Quaternion slerp( const geometry_msgs::msg::Quaternion & src_quat, const geometry_msgs::msg::Quaternion & dst_quat, @@ -43,6 +43,6 @@ std::vector slerp( geometry_msgs::msg::Quaternion lerpOrientation( const geometry_msgs::msg::Quaternion & o_from, const geometry_msgs::msg::Quaternion & o_to, const double ratio); -} // namespace interpolation +} // namespace autoware::interpolation -#endif // INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_ +#endif // AUTOWARE__INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_ diff --git a/common/interpolation/include/interpolation/spline_interpolation.hpp b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp similarity index 92% rename from common/interpolation/include/interpolation/spline_interpolation.hpp rename to common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp index 38e7b3fed5b8b..bfb863ef11ea8 100644 --- a/common/interpolation/include/interpolation/spline_interpolation.hpp +++ b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef INTERPOLATION__SPLINE_INTERPOLATION_HPP_ -#define INTERPOLATION__SPLINE_INTERPOLATION_HPP_ +#ifndef AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_ +#define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_ +#include "autoware/interpolation/interpolation_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "interpolation/interpolation_utils.hpp" #include #include @@ -24,7 +24,7 @@ #include #include -namespace interpolation +namespace autoware::interpolation { // NOTE: X(s) = a_i (s - s_i)^3 + b_i (s - s_i)^2 + c_i (s - s_i) + d_i : (i = 0, 1, ... N-1) struct MultiSplineCoef @@ -52,7 +52,6 @@ std::vector spline( std::vector splineByAkima( const std::vector & base_keys, const std::vector & base_values, const std::vector & query_keys); -} // namespace interpolation // non-static 1-dimensional spline interpolation // @@ -104,5 +103,6 @@ class SplineInterpolation void calcSplineCoefficients( const std::vector & base_keys, const std::vector & base_values); }; +} // namespace autoware::interpolation -#endif // INTERPOLATION__SPLINE_INTERPOLATION_HPP_ +#endif // AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_ diff --git a/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp similarity index 90% rename from common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp rename to common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp index 398d841c54710..72c0f6db335bb 100644 --- a/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp +++ b/common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_ -#define INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_ +#ifndef AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_ +#define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_ -#include "interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" #include -namespace interpolation +namespace autoware::interpolation { std::array, 3> slerp2dFromXY( const std::vector & base_keys, const std::vector & base_x_values, @@ -27,7 +27,6 @@ std::array, 3> slerp2dFromXY( template std::vector splineYawFromPoints(const std::vector & points); -} // namespace interpolation // non-static points spline interpolation // NOTE: We can calculate yaw from the x and y by interpolation derivatives. @@ -88,5 +87,6 @@ class SplineInterpolationPoints2d std::vector base_s_vec_; }; +} // namespace autoware::interpolation -#endif // INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_ +#endif // AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_ diff --git a/common/interpolation/include/interpolation/zero_order_hold.hpp b/common/autoware_interpolation/include/autoware/interpolation/zero_order_hold.hpp similarity index 89% rename from common/interpolation/include/interpolation/zero_order_hold.hpp rename to common/autoware_interpolation/include/autoware/interpolation/zero_order_hold.hpp index 966128321b470..2473afef262ce 100644 --- a/common/interpolation/include/interpolation/zero_order_hold.hpp +++ b/common/autoware_interpolation/include/autoware/interpolation/zero_order_hold.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef INTERPOLATION__ZERO_ORDER_HOLD_HPP_ -#define INTERPOLATION__ZERO_ORDER_HOLD_HPP_ +#ifndef AUTOWARE__INTERPOLATION__ZERO_ORDER_HOLD_HPP_ +#define AUTOWARE__INTERPOLATION__ZERO_ORDER_HOLD_HPP_ -#include "interpolation/interpolation_utils.hpp" +#include "autoware/interpolation/interpolation_utils.hpp" #include -namespace interpolation +namespace autoware::interpolation { inline std::vector calc_closest_segment_indices( const std::vector & base_keys, const std::vector & query_keys, @@ -76,6 +76,6 @@ std::vector zero_order_hold( return zero_order_hold( base_keys, base_values, calc_closest_segment_indices(base_keys, query_keys, overlap_threshold)); } -} // namespace interpolation +} // namespace autoware::interpolation -#endif // INTERPOLATION__ZERO_ORDER_HOLD_HPP_ +#endif // AUTOWARE__INTERPOLATION__ZERO_ORDER_HOLD_HPP_ diff --git a/common/interpolation/package.xml b/common/autoware_interpolation/package.xml similarity index 95% rename from common/interpolation/package.xml rename to common/autoware_interpolation/package.xml index bb4af924dd252..c0df4b45acf65 100644 --- a/common/interpolation/package.xml +++ b/common/autoware_interpolation/package.xml @@ -1,7 +1,7 @@ - interpolation + autoware_interpolation 0.1.0 The spline interpolation package Fumiya Watanabe diff --git a/common/interpolation/src/linear_interpolation.cpp b/common/autoware_interpolation/src/linear_interpolation.cpp similarity index 93% rename from common/interpolation/src/linear_interpolation.cpp rename to common/autoware_interpolation/src/linear_interpolation.cpp index f74d085dfee9e..4f9e03b7b9133 100644 --- a/common/interpolation/src/linear_interpolation.cpp +++ b/common/autoware_interpolation/src/linear_interpolation.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include -namespace interpolation +namespace autoware::interpolation { double lerp(const double src_val, const double dst_val, const double ratio) { @@ -56,4 +56,4 @@ double lerp( { return lerp(base_keys, base_values, std::vector{query_key}).front(); } -} // namespace interpolation +} // namespace autoware::interpolation diff --git a/common/interpolation/src/spherical_linear_interpolation.cpp b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp similarity index 94% rename from common/interpolation/src/spherical_linear_interpolation.cpp rename to common/autoware_interpolation/src/spherical_linear_interpolation.cpp index e44626498a80b..3edd76f64d3d2 100644 --- a/common/interpolation/src/spherical_linear_interpolation.cpp +++ b/common/autoware_interpolation/src/spherical_linear_interpolation.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/spherical_linear_interpolation.hpp" +#include "autoware/interpolation/spherical_linear_interpolation.hpp" -namespace interpolation +namespace autoware::interpolation { geometry_msgs::msg::Quaternion slerp( const geometry_msgs::msg::Quaternion & src_quat, const geometry_msgs::msg::Quaternion & dst_quat, @@ -68,4 +68,4 @@ geometry_msgs::msg::Quaternion lerpOrientation( const auto q_interpolated = q_from.slerp(q_to, ratio); return tf2::toMsg(q_interpolated); } -} // namespace interpolation +} // namespace autoware::interpolation diff --git a/common/interpolation/src/spline_interpolation.cpp b/common/autoware_interpolation/src/spline_interpolation.cpp similarity index 98% rename from common/interpolation/src/spline_interpolation.cpp rename to common/autoware_interpolation/src/spline_interpolation.cpp index 1275b47346d78..3ba73ab81f400 100644 --- a/common/interpolation/src/spline_interpolation.cpp +++ b/common/autoware_interpolation/src/spline_interpolation.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" #include -namespace +namespace autoware::interpolation { // solve Ax = d // where A is tridiagonal matrix @@ -77,7 +77,6 @@ inline std::vector solveTridiagonalMatrixAlgorithm(const TDMACoef & tdma return x; } -} // namespace namespace interpolation { @@ -287,3 +286,4 @@ std::vector SplineInterpolation::getSplineInterpolatedQuadDiffValues( return res; } +} // namespace autoware::interpolation diff --git a/common/interpolation/src/spline_interpolation_points_2d.cpp b/common/autoware_interpolation/src/spline_interpolation_points_2d.cpp similarity index 98% rename from common/interpolation/src/spline_interpolation_points_2d.cpp rename to common/autoware_interpolation/src/spline_interpolation_points_2d.cpp index 4d6d1639f2ac7..ece3185a2e538 100644 --- a/common/interpolation/src/spline_interpolation_points_2d.cpp +++ b/common/autoware_interpolation/src/spline_interpolation_points_2d.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/spline_interpolation_points_2d.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include -namespace +namespace autoware::interpolation { std::vector calcEuclidDist(const std::vector & x, const std::vector & y) { @@ -66,10 +66,6 @@ std::array, 4> getBaseValues( return {base_s, base_x, base_y, base_z}; } -} // namespace - -namespace interpolation -{ std::array, 3> slerp2dFromXY( const std::vector & base_keys, const std::vector & base_x_values, @@ -237,3 +233,4 @@ void SplineInterpolationPoints2d::calcSplineCoefficientsInner( spline_y_ = SplineInterpolation(base_s_vec_, base_y_vec); spline_z_ = SplineInterpolation(base_s_vec_, base_z_vec); } +} // namespace autoware::interpolation diff --git a/common/interpolation/test/src/test_interpolation.cpp b/common/autoware_interpolation/test/src/test_interpolation.cpp similarity index 100% rename from common/interpolation/test/src/test_interpolation.cpp rename to common/autoware_interpolation/test/src/test_interpolation.cpp diff --git a/common/interpolation/test/src/test_interpolation_utils.cpp b/common/autoware_interpolation/test/src/test_interpolation_utils.cpp similarity index 85% rename from common/interpolation/test/src/test_interpolation_utils.cpp rename to common/autoware_interpolation/test/src/test_interpolation_utils.cpp index 8b3a3b9faa0c6..2aa41b6fdef00 100644 --- a/common/interpolation/test/src/test_interpolation_utils.cpp +++ b/common/autoware_interpolation/test/src/test_interpolation_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/interpolation_utils.hpp" +#include "autoware/interpolation/interpolation_utils.hpp" #include @@ -24,43 +24,43 @@ TEST(interpolation_utils, isIncreasing) { // empty const std::vector empty_vec; - EXPECT_THROW(interpolation_utils::isIncreasing(empty_vec), std::invalid_argument); + EXPECT_THROW(autoware::interpolation::isIncreasing(empty_vec), std::invalid_argument); // increase const std::vector increasing_vec{0.0, 1.5, 3.0, 4.5, 6.0}; - EXPECT_EQ(interpolation_utils::isIncreasing(increasing_vec), true); + EXPECT_EQ(autoware::interpolation::isIncreasing(increasing_vec), true); // not decrease const std::vector not_increasing_vec{0.0, 1.5, 1.5, 4.5, 6.0}; - EXPECT_EQ(interpolation_utils::isIncreasing(not_increasing_vec), false); + EXPECT_EQ(autoware::interpolation::isIncreasing(not_increasing_vec), false); // decrease const std::vector decreasing_vec{0.0, 1.5, 1.2, 4.5, 6.0}; - EXPECT_EQ(interpolation_utils::isIncreasing(decreasing_vec), false); + EXPECT_EQ(autoware::interpolation::isIncreasing(decreasing_vec), false); } TEST(interpolation_utils, isNotDecreasing) { // empty const std::vector empty_vec; - EXPECT_THROW(interpolation_utils::isNotDecreasing(empty_vec), std::invalid_argument); + EXPECT_THROW(autoware::interpolation::isNotDecreasing(empty_vec), std::invalid_argument); // increase const std::vector increasing_vec{0.0, 1.5, 3.0, 4.5, 6.0}; - EXPECT_EQ(interpolation_utils::isNotDecreasing(increasing_vec), true); + EXPECT_EQ(autoware::interpolation::isNotDecreasing(increasing_vec), true); // not decrease const std::vector not_increasing_vec{0.0, 1.5, 1.5, 4.5, 6.0}; - EXPECT_EQ(interpolation_utils::isNotDecreasing(not_increasing_vec), true); + EXPECT_EQ(autoware::interpolation::isNotDecreasing(not_increasing_vec), true); // decrease const std::vector decreasing_vec{0.0, 1.5, 1.2, 4.5, 6.0}; - EXPECT_EQ(interpolation_utils::isNotDecreasing(decreasing_vec), false); + EXPECT_EQ(autoware::interpolation::isNotDecreasing(decreasing_vec), false); } TEST(interpolation_utils, validateKeys) { - using interpolation_utils::validateKeys; + using autoware::interpolation::validateKeys; const std::vector base_keys{0.0, 1.0, 2.0, 3.0}; const std::vector query_keys{0.0, 1.0, 2.0, 3.0}; @@ -116,7 +116,7 @@ TEST(interpolation_utils, validateKeys) TEST(interpolation_utils, validateKeysAndValues) { - using interpolation_utils::validateKeysAndValues; + using autoware::interpolation::validateKeysAndValues; const std::vector base_keys{0.0, 1.0, 2.0, 3.0}; const std::vector base_values{0.0, 1.0, 2.0, 3.0}; diff --git a/common/interpolation/test/src/test_linear_interpolation.cpp b/common/autoware_interpolation/test/src/test_linear_interpolation.cpp similarity index 80% rename from common/interpolation/test/src/test_linear_interpolation.cpp rename to common/autoware_interpolation/test/src/test_linear_interpolation.cpp index 9c392943bd3c5..0fea1e514e916 100644 --- a/common/interpolation/test/src/test_linear_interpolation.cpp +++ b/common/autoware_interpolation/test/src/test_linear_interpolation.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include @@ -23,8 +23,8 @@ constexpr double epsilon = 1e-6; TEST(linear_interpolation, lerp_scalar) { - EXPECT_EQ(interpolation::lerp(0.0, 1.0, 0.3), 0.3); - EXPECT_EQ(interpolation::lerp(-0.5, 12.3, 0.3), 3.34); + EXPECT_EQ(autoware::interpolation::lerp(0.0, 1.0, 0.3), 0.3); + EXPECT_EQ(autoware::interpolation::lerp(-0.5, 12.3, 0.3), 3.34); } TEST(linear_interpolation, lerp_vector) @@ -35,7 +35,7 @@ TEST(linear_interpolation, lerp_vector) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::lerp(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::lerp(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -47,7 +47,7 @@ TEST(linear_interpolation, lerp_vector) const std::vector query_keys{0.0, 0.7, 1.9, 4.0}; const std::vector ans{0.0, 1.05, 2.85, 6.0}; - const auto query_values = interpolation::lerp(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::lerp(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -59,7 +59,7 @@ TEST(linear_interpolation, lerp_vector) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::lerp(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::lerp(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -71,7 +71,7 @@ TEST(linear_interpolation, lerp_vector) const std::vector query_keys{0.0, 8.0, 18.0}; const std::vector ans{-0.18, 1.12, 1.4}; - const auto query_values = interpolation::lerp(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::lerp(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -87,7 +87,8 @@ TEST(linear_interpolation, lerp_scalar_query) const std::vector ans{-0.18, 1.12, 1.4}; for (size_t i = 0; i < query_keys.size(); ++i) { - const auto query_value = interpolation::lerp(base_keys, base_values, query_keys.at(i)); + const auto query_value = + autoware::interpolation::lerp(base_keys, base_values, query_keys.at(i)); EXPECT_NEAR(query_value, ans.at(i), epsilon); } } diff --git a/common/interpolation/test/src/test_spherical_linear_interpolation.cpp b/common/autoware_interpolation/test/src/test_spherical_linear_interpolation.cpp similarity index 96% rename from common/interpolation/test/src/test_spherical_linear_interpolation.cpp rename to common/autoware_interpolation/test/src/test_spherical_linear_interpolation.cpp index 0bb9ba8ef2ce8..b7ce134c680bd 100644 --- a/common/interpolation/test/src/test_spherical_linear_interpolation.cpp +++ b/common/autoware_interpolation/test/src/test_spherical_linear_interpolation.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/spherical_linear_interpolation.hpp" +#include "autoware/interpolation/spherical_linear_interpolation.hpp" #include @@ -34,7 +34,7 @@ inline geometry_msgs::msg::Quaternion createQuaternionFromRPY( TEST(slerp, spline_scalar) { - using interpolation::slerp; + using autoware::interpolation::slerp; // Same value { @@ -79,7 +79,7 @@ TEST(slerp, spline_scalar) TEST(slerp, spline_vector) { - using interpolation::slerp; + using autoware::interpolation::slerp; // query keys are same as base keys { diff --git a/common/interpolation/test/src/test_spline_interpolation.cpp b/common/autoware_interpolation/test/src/test_spline_interpolation.cpp similarity index 84% rename from common/interpolation/test/src/test_spline_interpolation.cpp rename to common/autoware_interpolation/test/src/test_spline_interpolation.cpp index d3cb2d6d3060b..b963cee6175cb 100644 --- a/common/interpolation/test/src/test_spline_interpolation.cpp +++ b/common/autoware_interpolation/test/src/test_spline_interpolation.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/interpolation/spline_interpolation.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "interpolation/spline_interpolation.hpp" #include @@ -30,7 +30,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -42,7 +42,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys{0.0, 0.7, 1.9, 4.0}; const std::vector ans{0.0, 1.05, 2.85, 6.0}; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -54,7 +54,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -66,7 +66,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys{0.0, 8.0, 18.0}; const std::vector ans{-0.075611, 0.997242, 1.573258}; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -78,7 +78,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -90,7 +90,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -102,7 +102,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys{-1.0, 0.0, 4.0}; const std::vector ans{-0.808769, -0.077539, 1.035096}; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -114,7 +114,7 @@ TEST(spline_interpolation, spline) const std::vector query_keys = {0.0, 1.0, 1.5, 2.0, 3.0, 4.0}; const std::vector ans = {0.0, 0.0, 137.591789, 0.1, 0.1, 0.1}; - const auto query_values = interpolation::spline(base_keys, base_values, query_keys); + const auto query_values = autoware::interpolation::spline(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -129,7 +129,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -141,7 +142,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys{0.0, 0.7, 1.9, 4.0}; const std::vector ans{0.0, 1.05, 2.85, 6.0}; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -153,7 +155,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -165,7 +168,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys{0.0, 8.0, 18.0}; const std::vector ans{-0.0801, 1.110749, 1.4864}; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -177,7 +181,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -189,7 +194,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -201,7 +207,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys{-1.0, 0.0, 4.0}; const std::vector ans{-0.8378, -0.0801, 0.927031}; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -213,7 +220,8 @@ TEST(spline_interpolation, splineByAkima) const std::vector query_keys = {0.0, 1.0, 1.5, 2.0, 3.0, 4.0}; const std::vector ans = {0.0, 0.0, 0.1, 0.1, 0.1, 0.1}; - const auto query_values = interpolation::splineByAkima(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::splineByAkima(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } diff --git a/common/interpolation/test/src/test_spline_interpolation_points_2d.cpp b/common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp similarity index 93% rename from common/interpolation/test/src/test_spline_interpolation_points_2d.cpp rename to common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp index 4013832220cd8..4031b13d554fb 100644 --- a/common/interpolation/test/src/test_spline_interpolation_points_2d.cpp +++ b/common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include @@ -37,7 +37,7 @@ TEST(spline_interpolation, splineYawFromPoints) const std::vector ans{0.9827937, 0.9827937, 0.9827937, 0.9827937, 0.9827937}; - const auto yaws = interpolation::splineYawFromPoints(points); + const auto yaws = autoware::interpolation::splineYawFromPoints(points); for (size_t i = 0; i < yaws.size(); ++i) { EXPECT_NEAR(yaws.at(i), ans.at(i), epsilon); } @@ -53,7 +53,7 @@ TEST(spline_interpolation, splineYawFromPoints) const std::vector ans{1.3593746, 0.9813541, 1.0419655, 0.8935115, 0.2932783}; - const auto yaws = interpolation::splineYawFromPoints(points); + const auto yaws = autoware::interpolation::splineYawFromPoints(points); for (size_t i = 0; i < yaws.size(); ++i) { EXPECT_NEAR(yaws.at(i), ans.at(i), epsilon); } @@ -63,7 +63,7 @@ TEST(spline_interpolation, splineYawFromPoints) std::vector points; points.push_back(createPoint(1.0, 0.0, 0.0)); - EXPECT_THROW(interpolation::splineYawFromPoints(points), std::logic_error); + EXPECT_THROW(autoware::interpolation::splineYawFromPoints(points), std::logic_error); } { // straight: size of base_keys is 2 (edge case in the implementation) @@ -73,7 +73,7 @@ TEST(spline_interpolation, splineYawFromPoints) const std::vector ans{0.9827937, 0.9827937}; - const auto yaws = interpolation::splineYawFromPoints(points); + const auto yaws = autoware::interpolation::splineYawFromPoints(points); for (size_t i = 0; i < yaws.size(); ++i) { EXPECT_NEAR(yaws.at(i), ans.at(i), epsilon); } @@ -87,7 +87,7 @@ TEST(spline_interpolation, splineYawFromPoints) const std::vector ans{0.9827937, 0.9827937, 0.9827937}; - const auto yaws = interpolation::splineYawFromPoints(points); + const auto yaws = autoware::interpolation::splineYawFromPoints(points); for (size_t i = 0; i < yaws.size(); ++i) { EXPECT_NEAR(yaws.at(i), ans.at(i), epsilon); } diff --git a/common/interpolation/test/src/test_zero_order_hold.cpp b/common/autoware_interpolation/test/src/test_zero_order_hold.cpp similarity index 80% rename from common/interpolation/test/src/test_zero_order_hold.cpp rename to common/autoware_interpolation/test/src/test_zero_order_hold.cpp index 541af1cf76064..c99348d66d034 100644 --- a/common/interpolation/test/src/test_zero_order_hold.cpp +++ b/common/autoware_interpolation/test/src/test_zero_order_hold.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "interpolation/zero_order_hold.hpp" +#include "autoware/interpolation/zero_order_hold.hpp" #include @@ -29,7 +29,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -41,7 +42,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation) const std::vector query_keys{0.0, 0.7, 1.9, 4.0}; const std::vector ans{0.0, 0.0, 1.5, 6.0}; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -53,7 +55,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation) const std::vector query_keys = base_keys; const std::vector ans = base_values; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -65,7 +68,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation) const std::vector query_keys{0.0, 8.0, 18.0}; const std::vector ans{-1.2, 1.0, 2.0}; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -77,7 +81,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation) const std::vector query_keys{0.0, 1.0, 2.0, 3.0, 4.0 - 0.001}; const std::vector ans = {0.0, 1.5, 2.5, 3.5, 3.5}; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -89,7 +94,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation) const std::vector query_keys{0.0, 1.0, 2.0, 3.0, 4.0 - 0.0001}; const std::vector ans = {0.0, 1.5, 2.5, 3.5, 0.0}; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -104,7 +110,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation_no_double_interpolation const std::vector query_keys = base_keys; const auto ans = base_values; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_EQ(query_values.at(i), ans.at(i)); } @@ -116,7 +123,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation_no_double_interpolation const std::vector query_keys{0.0, 0.7, 1.9, 4.0}; const std::vector ans = {true, true, false, false}; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_EQ(query_values.at(i), ans.at(i)); } @@ -128,7 +136,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation_no_double_interpolation const std::vector query_keys{0.0, 1.0, 2.0, 3.0, 4.0 - 0.001}; const std::vector ans = {true, true, false, true, true}; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } @@ -140,7 +149,8 @@ TEST(zero_order_hold_interpolation, vector_interpolation_no_double_interpolation const std::vector query_keys{0.0, 1.0, 2.0, 3.0, 4.0 - 0.0001}; const std::vector ans = base_values; - const auto query_values = interpolation::zero_order_hold(base_keys, base_values, query_keys); + const auto query_values = + autoware::interpolation::zero_order_hold(base_keys, base_values, query_keys); for (size_t i = 0; i < query_values.size(); ++i) { EXPECT_NEAR(query_values.at(i), ans.at(i), epsilon); } diff --git a/common/autoware_motion_utils/package.xml b/common/autoware_motion_utils/package.xml index 81fec78b04812..1fe2c4d8e1ea8 100644 --- a/common/autoware_motion_utils/package.xml +++ b/common/autoware_motion_utils/package.xml @@ -22,12 +22,12 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_interpolation autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs builtin_interfaces geometry_msgs - interpolation libboost-dev rclcpp tf2 diff --git a/common/autoware_motion_utils/src/resample/resample.cpp b/common/autoware_motion_utils/src/resample/resample.cpp index baf1c534a8a00..58bf78a93d5dc 100644 --- a/common/autoware_motion_utils/src/resample/resample.cpp +++ b/common/autoware_motion_utils/src/resample/resample.cpp @@ -14,12 +14,12 @@ #include "autoware/motion_utils/resample/resample.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/zero_order_hold.hpp" #include "autoware/motion_utils/resample/resample_utils.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/zero_order_hold.hpp" namespace autoware::motion_utils { diff --git a/common/autoware_motion_utils/src/trajectory/interpolation.cpp b/common/autoware_motion_utils/src/trajectory/interpolation.cpp index 4a9eaeca58d30..a1bb92aefa0cd 100644 --- a/common/autoware_motion_utils/src/trajectory/interpolation.cpp +++ b/common/autoware_motion_utils/src/trajectory/interpolation.cpp @@ -14,8 +14,8 @@ #include "autoware/motion_utils/trajectory/interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" -#include "interpolation/linear_interpolation.hpp" using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; diff --git a/common/autoware_motion_utils/src/trajectory/path_with_lane_id.cpp b/common/autoware_motion_utils/src/trajectory/path_with_lane_id.cpp index cd8de63f56c1d..9bd3ee5040f72 100644 --- a/common/autoware_motion_utils/src/trajectory/path_with_lane_id.cpp +++ b/common/autoware_motion_utils/src/trajectory/path_with_lane_id.cpp @@ -14,8 +14,8 @@ #include "autoware/motion_utils/trajectory/path_with_lane_id.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include #include diff --git a/common/object_recognition_utils/package.xml b/common/object_recognition_utils/package.xml index d0802bbc9b457..a3f4a99300716 100644 --- a/common/object_recognition_utils/package.xml +++ b/common/object_recognition_utils/package.xml @@ -12,10 +12,10 @@ ament_cmake_auto autoware_cmake + autoware_interpolation autoware_perception_msgs autoware_universe_utils geometry_msgs - interpolation libboost-dev pcl_conversions pcl_ros diff --git a/common/object_recognition_utils/src/predicted_path_utils.cpp b/common/object_recognition_utils/src/predicted_path_utils.cpp index e26c9e6a7e1ea..2c930ccdc692c 100644 --- a/common/object_recognition_utils/src/predicted_path_utils.cpp +++ b/common/object_recognition_utils/src/predicted_path_utils.cpp @@ -14,9 +14,9 @@ #include "object_recognition_utils/predicted_path_utils.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spherical_linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spherical_linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" #include diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml index e25352797a0d0..5c5f8886d6ed3 100644 --- a/control/autoware_mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -18,6 +18,7 @@ autoware_cmake autoware_control_msgs + autoware_interpolation autoware_motion_utils autoware_planning_msgs autoware_trajectory_follower_base @@ -28,7 +29,6 @@ diagnostic_updater eigen geometry_msgs - interpolation osqp_interface rclcpp rclcpp_components diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp index 1682f4ddc56c7..d6ed76a639eff 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -14,10 +14,10 @@ #include "autoware/mpc_lateral_controller/mpc.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/mpc_lateral_controller/mpc_utils.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" -#include "interpolation/linear_interpolation.hpp" #include "rclcpp/rclcpp.hpp" #include diff --git a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp index 37eb47ab0396e..aa7f99f0a8f67 100644 --- a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp @@ -14,11 +14,11 @@ #include "autoware/mpc_lateral_controller/mpc_utils.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/normalization.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" #include #include diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp index a36a0b4eefccd..95f353e391fe7 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp @@ -15,10 +15,10 @@ #ifndef AUTOWARE__PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ #define AUTOWARE__PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spherical_linear_interpolation.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spherical_linear_interpolation.hpp" #include "tf2/utils.h" #include diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index 91d77e454b7ff..86dab79a74559 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -20,6 +20,7 @@ autoware_adapi_v1_msgs autoware_control_msgs + autoware_interpolation autoware_motion_utils autoware_planning_msgs autoware_trajectory_follower_base @@ -30,7 +31,6 @@ diagnostic_updater eigen geometry_msgs - interpolation rclcpp rclcpp_components std_msgs diff --git a/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp index 3c547e762bce6..c6ab9d0816a75 100644 --- a/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp +++ b/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware/interpolation/spherical_linear_interpolation.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/pid_longitudinal_controller/longitudinal_controller_utils.hpp" #include "gtest/gtest.h" -#include "interpolation/spherical_linear_interpolation.hpp" #include "tf2/LinearMath/Quaternion.h" #include "autoware_planning_msgs/msg/trajectory.hpp" diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index fa8f5847d6c31..548129eb06f8c 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -21,6 +21,7 @@ autoware_adapi_v1_msgs autoware_control_msgs + autoware_interpolation autoware_motion_utils autoware_planning_msgs autoware_universe_utils @@ -30,7 +31,6 @@ diagnostic_updater eigen geometry_msgs - interpolation osqp_interface rclcpp rclcpp_components diff --git a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp index 77d6df2021c8f..984584d16aa8f 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp +++ b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp @@ -15,10 +15,10 @@ #ifndef PREDICTED_PATH_CHECKER__UTILS_HPP_ #define PREDICTED_PATH_CHECKER__UTILS_HPP_ +#include #include #include #include -#include #include #include diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml index c6c5a49f991dd..dc4b741edff79 100644 --- a/localization/autoware_pose_covariance_modifier/package.xml +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -12,8 +12,8 @@ ament_cmake_auto autoware_cmake + autoware_interpolation geometry_msgs - interpolation rclcpp rclcpp_components std_msgs diff --git a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp index bb811c55d585d..583740fb19f3d 100644 --- a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp +++ b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp @@ -14,7 +14,7 @@ #include "include/pose_covariance_modifier.hpp" -#include +#include #include #include diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index 9e60073de4be6..cd0b42f030eaf 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -14,12 +14,12 @@ ament_cmake autoware_cmake + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs autoware_universe_utils glog - interpolation rclcpp rclcpp_components tf2 diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp index b1402724e943d..9cc427223f498 100644 --- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp @@ -14,6 +14,7 @@ #include "map_based_prediction/map_based_prediction_node.hpp" +#include #include #include #include @@ -23,7 +24,6 @@ #include #include #include -#include #include diff --git a/perception/autoware_map_based_prediction/src/path_generator.cpp b/perception/autoware_map_based_prediction/src/path_generator.cpp index dac034a6b7a7d..67de50ce55c77 100644 --- a/perception/autoware_map_based_prediction/src/path_generator.cpp +++ b/perception/autoware_map_based_prediction/src/path_generator.cpp @@ -14,9 +14,9 @@ #include "map_based_prediction/path_generator.hpp" +#include #include #include -#include #include diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 79335dc23221b..e8484e468fb90 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -18,6 +18,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -26,7 +27,6 @@ autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - interpolation nav_msgs object_recognition_utils osqp_interface diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp index 899cc66cb4331..939624170d38d 100644 --- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp @@ -14,6 +14,9 @@ #include "autoware/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/zero_order_hold.hpp" #include "autoware/motion_utils/marker/marker_helper.hpp" #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/interpolation.hpp" @@ -21,9 +24,6 @@ #include "autoware/obstacle_cruise_planner/utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/zero_order_hold.hpp" #ifdef ROS_DISTRO_GALACTIC #include diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index a021e87e6199e..39087209955a1 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -14,12 +14,12 @@ #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" #include "autoware/motion_utils/marker/marker_helper.hpp" #include "autoware/obstacle_cruise_planner/utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" #include "autoware/universe_utils/ros/update_param.hpp" -#include "interpolation/spline_interpolation.hpp" #include "tier4_planning_msgs/msg/velocity_limit.hpp" diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp index 3443ab663b642..d717568057507 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp @@ -15,6 +15,8 @@ #ifndef AUTOWARE__PATH_OPTIMIZER__MPT_OPTIMIZER_HPP_ #define AUTOWARE__PATH_OPTIMIZER__MPT_OPTIMIZER_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/state_equation_generator.hpp" #include "autoware/path_optimizer/type_alias.hpp" @@ -22,8 +24,6 @@ #include "autoware/universe_utils/system/time_keeper.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "gtest/gtest.h" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "osqp_interface/osqp_interface.hpp" #include diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp index edc91bd40d4dc..48e7d68e70e18 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp @@ -15,13 +15,13 @@ #ifndef AUTOWARE__PATH_OPTIMIZER__UTILS__GEOMETRY_UTILS_HPP_ #define AUTOWARE__PATH_OPTIMIZER__UTILS__GEOMETRY_UTILS_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/type_alias.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp index 3cacdc2e1ecaf..2e3bd5102f27b 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp @@ -15,12 +15,12 @@ #ifndef AUTOWARE__PATH_OPTIMIZER__UTILS__TRAJECTORY_UTILS_HPP_ #define AUTOWARE__PATH_OPTIMIZER__UTILS__TRAJECTORY_UTILS_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/path_optimizer/common_structs.hpp" #include "autoware/path_optimizer/type_alias.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index 0830d534c7cb0..1a7869b6a87fd 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -14,13 +14,13 @@ ament_cmake_auto autoware_cmake + autoware_interpolation autoware_motion_utils autoware_planning_msgs autoware_planning_test_manager autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - interpolation nav_msgs osqp_interface rclcpp diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp index 45943d7deec09..d881fb6a5022a 100644 --- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp +++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp @@ -14,13 +14,13 @@ #include "autoware/path_optimizer/mpt_optimizer.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/path_optimizer/utils/geometry_utils.hpp" #include "autoware/path_optimizer/utils/trajectory_utils.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/math/normalization.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "tf2/utils.h" #include diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp index f0d101a046206..62a4882f8a4c1 100644 --- a/planning/autoware_path_optimizer/src/node.cpp +++ b/planning/autoware_path_optimizer/src/node.cpp @@ -14,12 +14,12 @@ #include "autoware/path_optimizer/node.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/marker/marker_helper.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/path_optimizer/debug_marker.hpp" #include "autoware/path_optimizer/utils/geometry_utils.hpp" #include "autoware/path_optimizer/utils/trajectory_utils.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "rclcpp/time.hpp" #include diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp index f989ab76f6952..e7f64a896bdd3 100644 --- a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp +++ b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp @@ -15,12 +15,12 @@ #ifndef AUTOWARE__PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_ #define AUTOWARE__PATH_SMOOTHER__UTILS__TRAJECTORY_UTILS_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/path_smoother/common_structs.hpp" #include "autoware/path_smoother/type_alias.hpp" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index 6cecef433fc3e..b9b79bb6ceaf6 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -14,12 +14,12 @@ ament_cmake_auto autoware_cmake + autoware_interpolation autoware_motion_utils autoware_planning_msgs autoware_planning_test_manager autoware_universe_utils geometry_msgs - interpolation nav_msgs osqp_interface rclcpp diff --git a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp index b92798f92728c..a3082a2c979c3 100644 --- a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp +++ b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp @@ -14,10 +14,10 @@ #include "autoware/path_smoother/elastic_band_smoother.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/path_smoother/utils/geometry_utils.hpp" #include "autoware/path_smoother/utils/trajectory_utils.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "rclcpp/time.hpp" #include diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 6473c3150dcab..f0f76c40df8fc 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -16,6 +16,7 @@ rosidl_default_generators autoware_behavior_path_planner_common + autoware_interpolation autoware_lanelet2_extension autoware_map_msgs autoware_mission_planner @@ -30,7 +31,6 @@ geography_utils geometry_msgs global_parameter_loader - interpolation map_loader map_projection_loader osqp_interface diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 4b9c5a73e81bc..0688b625a4f45 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -14,6 +14,7 @@ #include "static_centerline_generator_node.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" @@ -23,7 +24,6 @@ #include "autoware_lanelet2_extension/utility/utilities.hpp" #include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp" #include "centerline_source/bag_ego_trajectory_based_centerline.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "map_loader/lanelet2_map_loader_node.hpp" #include "map_projection_loader/load_info_from_lanelet2_map.hpp" #include "map_projection_loader/map_projection_loader.hpp" diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml index f5cd3f2667c04..65684e414e90d 100644 --- a/planning/autoware_velocity_smoother/package.xml +++ b/planning/autoware_velocity_smoother/package.xml @@ -21,13 +21,13 @@ autoware_cmake eigen3_cmake_module + autoware_interpolation autoware_motion_utils autoware_planning_msgs autoware_planning_test_manager autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - interpolation nav_msgs osqp_interface qp_interface diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp index 9d474a9a52bfa..8abe87de06398 100644 --- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp @@ -14,7 +14,7 @@ #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.hpp" -#include "interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include #include diff --git a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp index 830b34589a069..e0ce17f372b76 100644 --- a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp +++ b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp @@ -14,9 +14,9 @@ #include "autoware/velocity_smoother/trajectory_utils.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "interpolation/linear_interpolation.hpp" #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp index 7962c878d7d64..1ca1e4d4f51eb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp @@ -18,9 +18,10 @@ #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" #include +#include #include #include -#include +#include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 981051a363029..30fc06370057a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -40,6 +40,7 @@ autoware_behavior_path_planner_common autoware_freespace_planning_algorithms autoware_frenet_planner + autoware_interpolation autoware_lane_departure_checker autoware_lanelet2_extension autoware_motion_utils @@ -52,7 +53,6 @@ autoware_vehicle_msgs behaviortree_cpp_v3 geometry_msgs - interpolation libboost-dev libopencv-dev magic_enum diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp index 9296fd22d374b..019c9f6899f29 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp @@ -17,7 +17,7 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp" -#include +#include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index 7a189250c088d..b1d3a39379d15 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -44,6 +44,7 @@ autoware_adapi_v1_msgs autoware_freespace_planning_algorithms + autoware_interpolation autoware_lane_departure_checker autoware_lanelet2_extension autoware_motion_utils @@ -55,7 +56,6 @@ autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - interpolation magic_enum object_recognition_utils rclcpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index dcab7c22a35fe..648bb0a17622c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -20,13 +20,13 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp" #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp" +#include #include #include #include #include #include #include -#include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp index dc0f13270bca2..f879c1f1ae96e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp @@ -12,18 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp" - -#include "autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp" -#include "autoware/behavior_path_planner_common/utils/path_utils.hpp" -#include "autoware/behavior_path_planner_common/utils/utils.hpp" -#include "autoware/motion_utils/trajectory/trajectory.hpp" -#include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware/universe_utils/math/unit_conversion.hpp" - +#include + +#include +#include +#include +#include +#include +#include +#include #include #include -#include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 8d2dd2fb86e29..eec65881a80b5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -15,10 +15,10 @@ #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "autoware/universe_utils/ros/uuid_helper.hpp" -#include "interpolation/linear_interpolation.hpp" #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index 8a6c899b4bd6d..18b94e952ec3a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -16,9 +16,9 @@ #include "autoware/behavior_path_planner_common/utils/path_utils.hpp" +#include #include #include -#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index 7873a4b421297..b59e007736274 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -17,12 +17,12 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" +#include #include #include #include #include #include -#include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index 9ede8342856a6..97709329b6e62 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -16,6 +16,7 @@ autoware_behavior_path_planner_common autoware_bezier_sampler autoware_frenet_planner + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_path_sampler @@ -27,7 +28,6 @@ autoware_vehicle_info_utils autoware_vehicle_msgs geometry_msgs - interpolation pluginlib rclcpp rclcpp_components diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index cd9c63fc0367f..be04f1f9180b9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -23,6 +23,7 @@ autoware_behavior_velocity_planner_common autoware_grid_map_utils + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -34,7 +35,6 @@ geometry_msgs grid_map_core grid_map_ros - interpolation libboost-dev nav_msgs pcl_conversions diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index 7772235342266..8609330160148 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -19,6 +19,7 @@ autoware_cmake autoware_behavior_velocity_planner_common + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -29,7 +30,6 @@ autoware_vehicle_info_utils fmt geometry_msgs - interpolation libopencv-dev magic_enum nav_msgs diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index 92a8fc57079df..197f19ef40a90 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -17,11 +17,11 @@ #include // for to_bg2d #include // for planning_utils:: +#include #include #include // for lanelet::autoware::RoadMarking #include #include -#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index b630f988af662..21664f7596d60 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -18,6 +18,7 @@ eigen3_cmake_module autoware_behavior_velocity_planner_common + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -27,7 +28,6 @@ autoware_vehicle_info_utils eigen geometry_msgs - interpolation libboost-dev pluginlib rclcpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index f2bcc0b5abf44..ac58c62036e26 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -17,10 +17,10 @@ #include #include #include +#include #include #include #include -#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml index 22da467ba9fac..b414769e84ec2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml @@ -18,6 +18,7 @@ autoware_behavior_velocity_planner_common autoware_grid_map_utils + autoware_interpolation autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -27,7 +28,6 @@ autoware_vehicle_info_utils geometry_msgs grid_map_ros - interpolation libboost-dev libopencv-dev nav_msgs diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp index 6d40c2167961a..56a5acd8c7dc4 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp @@ -18,10 +18,10 @@ #include #include +#include #include #include #include -#include #include #include diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml index 0122c220e7e51..9e5e8b0edda7b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml @@ -20,6 +20,7 @@ eigen3_cmake_module autoware_adapi_v1_msgs + autoware_interpolation autoware_lanelet2_extension autoware_map_msgs autoware_motion_utils @@ -34,7 +35,6 @@ diagnostic_msgs eigen geometry_msgs - interpolation nav_msgs pcl_conversions rclcpp diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp index a27dd1576c90d..65ee862592bef 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp +++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp @@ -15,14 +15,14 @@ #ifndef AUTOWARE_PATH_SAMPLER__UTILS__GEOMETRY_UTILS_HPP_ #define AUTOWARE_PATH_SAMPLER__UTILS__GEOMETRY_UTILS_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware_path_sampler/common_structs.hpp" #include "autoware_path_sampler/type_alias.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "eigen3/Eigen/Core" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "autoware_planning_msgs/msg/path_point.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp index c44338aa64ce8..09451630f952e 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp +++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp @@ -15,14 +15,14 @@ #ifndef AUTOWARE_PATH_SAMPLER__UTILS__TRAJECTORY_UTILS_HPP_ #define AUTOWARE_PATH_SAMPLER__UTILS__TRAJECTORY_UTILS_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" #include "autoware_path_sampler/common_structs.hpp" #include "autoware_path_sampler/type_alias.hpp" #include "autoware_sampler_common/structures.hpp" #include "eigen3/Eigen/Core" -#include "interpolation/linear_interpolation.hpp" -#include "interpolation/spline_interpolation.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "autoware_planning_msgs/msg/path_point.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 26f85631d569f..ca137a0d06a53 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -15,13 +15,13 @@ autoware_bezier_sampler autoware_frenet_planner + autoware_interpolation autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_universe_utils autoware_vehicle_info_utils geometry_msgs - interpolation nav_msgs rclcpp rclcpp_components diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp index 15d7e883a31d2..34905f79cd364 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp +++ b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp @@ -14,6 +14,7 @@ #include "autoware_path_sampler/node.hpp" +#include "autoware/interpolation/spline_interpolation_points_2d.hpp" #include "autoware/motion_utils/marker/marker_helper.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware_path_sampler/path_generation.hpp" @@ -22,7 +23,6 @@ #include "autoware_path_sampler/utils/trajectory_utils.hpp" #include "autoware_sampler_common/constraints/hard_constraint.hpp" #include "autoware_sampler_common/constraints/soft_constraint.hpp" -#include "interpolation/spline_interpolation_points_2d.hpp" #include "rclcpp/time.hpp" #include diff --git a/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp b/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp index 29b3f5a8fc145..3e31d992af86c 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp +++ b/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp @@ -17,8 +17,8 @@ #include "autoware/universe_utils/geometry/boost_geometry.hpp" +#include #include -#include #include diff --git a/planning/sampling_based_planner/autoware_sampler_common/package.xml b/planning/sampling_based_planner/autoware_sampler_common/package.xml index a1462131d62ad..d1f1e3946a0dd 100644 --- a/planning/sampling_based_planner/autoware_sampler_common/package.xml +++ b/planning/sampling_based_planner/autoware_sampler_common/package.xml @@ -11,7 +11,7 @@ autoware_cmake - interpolation + autoware_interpolation ament_cmake_ros ament_lint_auto diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp index ea0653c879727..2eade8b4c9201 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp @@ -15,9 +15,9 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ +#include "autoware/interpolation/linear_interpolation.hpp" #include "eigen3/Eigen/Core" #include "eigen3/Eigen/LU" -#include "interpolation/linear_interpolation.hpp" #include "simple_planning_simulator/utils/csv_loader.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 973af0dc112fb..aa214b46e1244 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -19,9 +19,9 @@ autoware_cmake autoware_control_msgs + autoware_interpolation autoware_vehicle_msgs geometry_msgs - interpolation nav_msgs rclcpp rclcpp_components diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp index 236aa7dc451c3..95f14f0238d74 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp @@ -14,7 +14,7 @@ #include "autoware_raw_vehicle_cmd_converter/accel_map.hpp" -#include "interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include #include diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp index ae0f8e5f41b1c..9498dc18330bb 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp @@ -14,7 +14,7 @@ #include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" -#include "interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include #include diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp index 6abe8adfdc9e3..edb99be41ceb5 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp @@ -14,7 +14,7 @@ #include "autoware_raw_vehicle_cmd_converter/steer_map.hpp" -#include "interpolation/linear_interpolation.hpp" +#include "autoware/interpolation/linear_interpolation.hpp" #include #include