refactor(occlusion_spot): add autoware prefix

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -151,7 +151,7 @@
   />
   <let
     name="behavior_velocity_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
+    value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + 'autoware::behavior_velocity_planner::OcclusionSpotModulePlugin, '&quot;)"
     if="$(var launch_occlusion_spot_module)"
   />
   <let

planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt → planning/autoware_behavior_velocity_occlusion_spot_module/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_occlusion_spot_module)
+project(autoware_behavior_velocity_occlusion_spot_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

planning/behavior_velocity_occlusion_spot_module/package.xml → planning/autoware_behavior_velocity_occlusion_spot_module/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_velocity_occlusion_spot_module</name>
+  <name>autoware_behavior_velocity_occlusion_spot_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_occlusion_spot_module package</description>
+  <description>The autoware_behavior_velocity_occlusion_spot_module package</description>
 
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>

planning/autoware_behavior_velocity_occlusion_spot_module/plugins.xml

@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_occlusion_spot_module">
+  <class type="autoware::behavior_velocity_planner::OcclusionSpotModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
+</library>

planning/behavior_velocity_occlusion_spot_module/src/debug.cpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/debug.cpp

@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -137,7 +137,7 @@ MarkerArray makePolygonMarker(
   Marker debug_marker;
   debug_marker.header.frame_id = "map";
   debug_marker.header.stamp = rclcpp::Time(0);
-  debug_marker.id = planning_utils::bitShift(id);
+  debug_marker.id = ::behavior_velocity_planner::planning_utils::bitShift(id);
   debug_marker.type = Marker::LINE_STRIP;
   debug_marker.action = Marker::ADD;
   debug_marker.pose.position = createMarkerPosition(0.0, 0.0, 0);
@@ -165,7 +165,7 @@ MarkerArray makeSlicePolygonMarker(
   Marker debug_marker;
   debug_marker.header.frame_id = "map";
   debug_marker.header.stamp = rclcpp::Time(0);
-  debug_marker.id = planning_utils::bitShift(id);
+  debug_marker.id = ::behavior_velocity_planner::planning_utils::bitShift(id);
   debug_marker.type = Marker::LINE_STRIP;
   debug_marker.action = Marker::ADD;
   debug_marker.pose.position = createMarkerPosition(0.0, 0.0, 0);
@@ -207,7 +207,7 @@ MarkerArray OcclusionSpotModule::createDebugMarkerArray()
   }
   if (!debug_data_.occlusion_points.empty()) {
     appendMarkerArray(
-      debug::createPointsMarkerArray(
+      ::behavior_velocity_planner::debug::createPointsMarkerArray(
         debug_data_.occlusion_points, "occlusion", module_id_, now, 0.5, 0.5, 0.5, 1.0, 0.0, 0.0),
       &debug_marker_array, now);
   }
@@ -227,4 +227,4 @@ motion_utils::VirtualWalls OcclusionSpotModule::createVirtualWalls()
   }
   return virtual_walls;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_occlusion_spot_module/src/grid_utils.cpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp

@@ -20,7 +20,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace grid_utils
 {
@@ -39,7 +39,7 @@ Polygon2d pointsToPoly(const Point2d p0, const Point2d p1, const double radius)
   // std::cout << boost::geometry::wkt(line_poly) << std::endl;
   // std::cout << boost::geometry::wkt(line) << std::endl;
 
-  bg::correct(line_poly);
+  boost::geometry::correct(line_poly);
   return line_poly;
 }
 
@@ -134,6 +134,7 @@ std::optional<Polygon2d> generateOcclusionPolygon(
 
 Polygon2d generateOccupancyPolygon(const nav_msgs::msg::MapMetaData & info, const double r = 100)
 {
+  using ::behavior_velocity_planner::to_bg2d;
   using tier4_autoware_utils::calcOffsetPose;
   // generate occupancy polygon from grid origin
   Polygon2d poly;  // create counter clockwise poly
@@ -142,7 +143,7 @@ Polygon2d generateOccupancyPolygon(const nav_msgs::msg::MapMetaData & info, cons
   poly.outer().emplace_back(to_bg2d(calcOffsetPose(info.origin, r, r, 0).position));
   poly.outer().emplace_back(to_bg2d(calcOffsetPose(info.origin, 0, r, 0).position));
 
-  bg::correct(poly);
+  boost::geometry::correct(poly);
   return poly;
 }
 
@@ -381,4 +382,4 @@ void denoiseOccupancyGridCV(
   grid_map::GridMapRosConverter::fromOccupancyGrid(occupancy_grid, "layer", grid_map);
 }
 }  // namespace grid_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_occlusion_spot_module/src/grid_utils.hpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp

@@ -49,18 +49,23 @@
 
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
 namespace grid_utils
 {
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
+using ::behavior_velocity_planner::Polygons2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::TransformStamped;
 using nav_msgs::msg::MapMetaData;
 using nav_msgs::msg::OccupancyGrid;
+using tier4_autoware_utils::LineString2d;
+using tier4_autoware_utils::Point2d;
+using tier4_autoware_utils::Polygon2d;
+
 namespace occlusion_cost_value
 {
 static constexpr unsigned char FREE_SPACE = 0;
@@ -118,6 +123,6 @@ void denoiseOccupancyGridCV(
   grid_map::GridMap & grid_map, const GridParam & param, const bool is_show_debug_window,
   const int num_iter, const bool use_object_footprints, const bool use_object_ray_casts);
 }  // namespace grid_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // GRID_UTILS_HPP_

planning/behavior_velocity_occlusion_spot_module/src/manager.cpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp

@@ -25,14 +25,14 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using occlusion_spot_utils::DETECTION_METHOD;
 using occlusion_spot_utils::PASS_JUDGE;
 using tier4_autoware_utils::getOrDeclareParameter;
 
 OcclusionSpotModuleManager::OcclusionSpotModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterface(node, getModuleName())
+: ::behavior_velocity_planner::SceneModuleManagerInterface(node, getModuleName())
 {
   const std::string ns(getModuleName());
   auto & pp = planner_param_;
@@ -128,16 +128,18 @@ void OcclusionSpotModuleManager::launchNewModules(
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
+std::function<bool(const std::shared_ptr<::behavior_velocity_planner::SceneModuleInterface> &)>
 OcclusionSpotModuleManager::getModuleExpiredFunction(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {
-  return [path]([[maybe_unused]] const std::shared_ptr<SceneModuleInterface> & scene_module) {
-    return false;
-  };
+  return
+    [path](
+      [[maybe_unused]] const std::shared_ptr<::behavior_velocity_planner::SceneModuleInterface> &
+        scene_module) { return false; };
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::OcclusionSpotModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::OcclusionSpotModulePlugin,
+  behavior_velocity_planner::PluginInterface)

planning/behavior_velocity_occlusion_spot_module/src/manager.hpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/manager.hpp

@@ -37,9 +37,9 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
-class OcclusionSpotModuleManager : public SceneModuleManagerInterface
+class OcclusionSpotModuleManager : public ::behavior_velocity_planner::SceneModuleManagerInterface
 {
 public:
   explicit OcclusionSpotModuleManager(rclcpp::Node & node);
@@ -55,14 +55,15 @@ class OcclusionSpotModuleManager : public SceneModuleManagerInterface
 
   void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
-    const tier4_planning_msgs::msg::PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<::behavior_velocity_planner::SceneModuleInterface> &)>
+  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 };
 
-class OcclusionSpotModulePlugin : public PluginWrapper<OcclusionSpotModuleManager>
+class OcclusionSpotModulePlugin
+: public ::behavior_velocity_planner::PluginWrapper<OcclusionSpotModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_

planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp

@@ -33,8 +33,10 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::LineString2d;
+using ::behavior_velocity_planner::Polygon2d;
 namespace bg = boost::geometry;
 namespace occlusion_spot_utils
 {
@@ -43,7 +45,8 @@ Polygon2d toFootprintPolygon(const PredictedObject & object, const double scale
   const Pose & obj_pose = object.kinematics.initial_pose_with_covariance.pose;
   Polygon2d obj_footprint = tier4_autoware_utils::toPolygon2d(object);
   // upscale foot print for noise
-  obj_footprint = upScalePolygon(obj_pose.position, obj_footprint, scale);
+  obj_footprint =
+    ::behavior_velocity_planner::upScalePolygon(obj_pose.position, obj_footprint, scale);
   return obj_footprint;
 }
 
@@ -77,7 +80,7 @@ bool buildDetectionAreaPolygon(
   const size_t target_seg_idx, const PlannerParam & param)
 {
   const auto & p = param;
-  DetectionRange da_range;
+  ::behavior_velocity_planner::DetectionRange da_range;
   da_range.interval = p.detection_area.slice_length;
   da_range.min_longitudinal_distance =
     std::max(0.0, p.baselink_to_front - p.detection_area.min_longitudinal_offset);
@@ -89,7 +92,7 @@ bool buildDetectionAreaPolygon(
   da_range.right_overhang = p.right_overhang;
   da_range.left_overhang = p.left_overhang;
   slices.clear();
-  return planning_utils::createDetectionAreaPolygons(
+  return ::behavior_velocity_planner::planning_utils::createDetectionAreaPolygons(
     slices, path, target_pose, target_seg_idx, da_range, p.pedestrian_vel);
 }
 
@@ -485,4 +488,4 @@ std::optional<PossibleCollisionInfo> generateOneNotableCollisionFromOcclusionSpo
 }
 
 }  // namespace occlusion_spot_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.hpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.hpp

@@ -46,7 +46,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObject;
@@ -63,6 +63,9 @@ using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using DetectionAreaIdx = std::optional<std::pair<double, double>>;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
+// TODO(Maxime): remove once behavior_velocity_planner is moved to the autoware namespace
+using ::behavior_velocity_planner::Point2d;
+using ::behavior_velocity_planner::Polygons2d;
 
 namespace occlusion_spot_utils
 {
@@ -246,6 +249,6 @@ bool generatePossibleCollisionsFromGridMap(
   DebugData & debug_data);
 
 }  // namespace occlusion_spot_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // OCCLUSION_SPOT_UTILS_HPP_

planning/behavior_velocity_occlusion_spot_module/src/risk_predictive_braking.cpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/risk_predictive_braking.cpp

@@ -21,7 +21,7 @@
 #include <algorithm>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace occlusion_spot_utils
 {
@@ -47,7 +47,8 @@ void applySafeVelocityConsideringPossibleCollision(
 
     // safe slow down: consider ego smooth brake
     const double v_safe_slow_down =
-      planning_utils::calcDecelerationVelocityFromDistanceToTarget(j_min, a_min, a0, v0, l_obs);
+      ::behavior_velocity_planner::planning_utils::calcDecelerationVelocityFromDistanceToTarget(
+        j_min, a_min, a0, v0, l_obs);
 
     // TODO(tanaka): consider edge case if ego passed safe margin
     const double v_slow_down = (l_obs < 0 && v0 <= v_safe) ? v_safe : v_safe_slow_down;
@@ -62,8 +63,8 @@ void applySafeVelocityConsideringPossibleCollision(
     safe_velocity = std::max(safe_velocity, v_min);
     possible_collision.obstacle_info.safe_motion.safe_velocity = safe_velocity;
     const auto & pose = possible_collision.collision_with_margin.pose;
-    const auto & decel_pose =
-      planning_utils::insertDecelPoint(pose.position, *inout_path, safe_velocity);
+    const auto & decel_pose = ::behavior_velocity_planner::planning_utils::insertDecelPoint(
+      pose.position, *inout_path, safe_velocity);
     if (decel_pose) debug_poses.push_back(decel_pose.value());
   }
 }
@@ -98,4 +99,4 @@ SafeMotion calculateSafeMotion(const Velocity & v, const double ttv)
   return sm;
 }
 }  // namespace occlusion_spot_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_occlusion_spot_module/src/risk_predictive_braking.hpp → planning/autoware_behavior_velocity_occlusion_spot_module/src/risk_predictive_braking.hpp

@@ -22,7 +22,7 @@
 #include <algorithm>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace occlusion_spot_utils
 {
@@ -38,6 +38,6 @@ void applySafeVelocityConsideringPossibleCollision(
 SafeMotion calculateSafeMotion(const Velocity & v, const double ttv);
 
 }  // namespace occlusion_spot_utils
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // RISK_PREDICTIVE_BRAKING_HPP_