refactor(occlusion_spot): add autoware prefix

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
autowarefoundation · Jun 10, 2024 · 54cf638 · 54cf638
1 parent ac483b9
commit 54cf638
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Showing 30 changed files with 32 additions and 18 deletions.
diff --git a/...city_occlusion_spot_module/CMakeLists.txt → ...city_occlusion_spot_module/CMakeLists.txt b/...city_occlusion_spot_module/CMakeLists.txt → ...city_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()

diff --git a/..._velocity_occlusion_spot_module/README.md → ..._velocity_occlusion_spot_module/README.md b/..._velocity_occlusion_spot_module/README.md → ..._velocity_occlusion_spot_module/README.md
diff --git a/...t_module/config/occlusion_spot.param.yaml → ...t_module/config/occlusion_spot.param.yaml b/...t_module/config/occlusion_spot.param.yaml → ...t_module/config/occlusion_spot.param.yaml
diff --git a/...ocs/behavior_after_safe_margin.drawio.svg → ...ocs/behavior_after_safe_margin.drawio.svg b/...ocs/behavior_after_safe_margin.drawio.svg → ...ocs/behavior_after_safe_margin.drawio.svg
diff --git a/...pot_module/docs/collision_free.drawio.svg → ...pot_module/docs/collision_free.drawio.svg b/...pot_module/docs/collision_free.drawio.svg → ...pot_module/docs/collision_free.drawio.svg
diff --git a/..._occlusion_spot_module/docs/da.drawio.svg → ..._occlusion_spot_module/docs/da.drawio.svg b/..._occlusion_spot_module/docs/da.drawio.svg → ..._occlusion_spot_module/docs/da.drawio.svg
diff --git a/...docs/maximum_slowdown_velocity.drawio.svg → ...docs/maximum_slowdown_velocity.drawio.svg b/...docs/maximum_slowdown_velocity.drawio.svg → ...docs/maximum_slowdown_velocity.drawio.svg
diff --git a/...ule/docs/object_info_partition.drawio.svg → ...ule/docs/object_info_partition.drawio.svg b/...ule/docs/object_info_partition.drawio.svg → ...ule/docs/object_info_partition.drawio.svg
diff --git a/...pot_module/docs/occlusion_spot.drawio.svg → ...pot_module/docs/occlusion_spot.drawio.svg b/...pot_module/docs/occlusion_spot.drawio.svg → ...pot_module/docs/occlusion_spot.drawio.svg
diff --git a/...usion_spot_module/docs/occlusion_spot.svg → ...usion_spot_module/docs/occlusion_spot.svg b/...usion_spot_module/docs/occlusion_spot.svg → ...usion_spot_module/docs/occlusion_spot.svg
diff --git a/...pot_module/docs/raycast_shadow.drawio.svg → ...pot_module/docs/raycast_shadow.drawio.svg b/...pot_module/docs/raycast_shadow.drawio.svg → ...pot_module/docs/raycast_shadow.drawio.svg
diff --git a/...n_spot_module/docs/safe_motion.drawio.svg → ...n_spot_module/docs/safe_motion.drawio.svg b/...n_spot_module/docs/safe_motion.drawio.svg → ...n_spot_module/docs/safe_motion.drawio.svg
diff --git a/..._module/docs/velocity_planning.drawio.svg → ..._module/docs/velocity_planning.drawio.svg b/..._module/docs/velocity_planning.drawio.svg → ..._module/docs/velocity_planning.drawio.svg
diff --git a/...elocity_occlusion_spot_module/package.xml → ...elocity_occlusion_spot_module/package.xml b/...elocity_occlusion_spot_module/package.xml → ...elocity_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>

diff --git a/planning/autoware_behavior_velocity_occlusion_spot_module/plugins.xml b/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="autoware::behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/...ocity_occlusion_spot_module/src/debug.cpp → ...ocity_occlusion_spot_module/src/debug.cpp b/...ocity_occlusion_spot_module/src/debug.cpp → ...ocity_occlusion_spot_module/src/debug.cpp
diff --git a/..._occlusion_spot_module/src/grid_utils.cpp → ..._occlusion_spot_module/src/grid_utils.cpp b/..._occlusion_spot_module/src/grid_utils.cpp → ..._occlusion_spot_module/src/grid_utils.cpp
@@ -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;
 }
 
@@ -142,7 +142,7 @@ 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;
 }
 

diff --git a/..._occlusion_spot_module/src/grid_utils.hpp → ..._occlusion_spot_module/src/grid_utils.hpp b/..._occlusion_spot_module/src/grid_utils.hpp → ..._occlusion_spot_module/src/grid_utils.hpp
@@ -61,6 +61,10 @@ 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;

diff --git a/...ity_occlusion_spot_module/src/manager.cpp → ...ity_occlusion_spot_module/src/manager.cpp b/...ity_occlusion_spot_module/src/manager.cpp → ...ity_occlusion_spot_module/src/manager.cpp
@@ -132,9 +132,10 @@ std::function<bool(const std::shared_ptr<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<SceneModuleInterface> &
+        scene_module) { return false; };
 }
 }  // namespace autoware::behavior_velocity_planner
 

diff --git a/...ity_occlusion_spot_module/src/manager.hpp → ...ity_occlusion_spot_module/src/manager.hpp b/...ity_occlusion_spot_module/src/manager.hpp → ...ity_occlusion_spot_module/src/manager.hpp
@@ -55,11 +55,12 @@ 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<SceneModuleInterface> &)>
+  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 };
 
-class OcclusionSpotModulePlugin : public PluginWrapper<OcclusionSpotModuleManager>
+class OcclusionSpotModulePlugin
+: public PluginWrapper<OcclusionSpotModuleManager>
 {
 };
 

diff --git a/..._spot_module/src/occlusion_spot_utils.cpp → ..._spot_module/src/occlusion_spot_utils.cpp b/..._spot_module/src/occlusion_spot_utils.cpp → ..._spot_module/src/occlusion_spot_utils.cpp
@@ -43,7 +43,8 @@ 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 =
+    upScalePolygon(obj_pose.position, obj_footprint, scale);
   return obj_footprint;
 }
 

diff --git a/..._spot_module/src/occlusion_spot_utils.hpp → ..._spot_module/src/occlusion_spot_utils.hpp b/..._spot_module/src/occlusion_spot_utils.hpp → ..._spot_module/src/occlusion_spot_utils.hpp
diff --git a/...ot_module/src/risk_predictive_braking.cpp → ...ot_module/src/risk_predictive_braking.cpp b/...ot_module/src/risk_predictive_braking.cpp → ...ot_module/src/risk_predictive_braking.cpp
@@ -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);
+      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 = planning_utils::insertDecelPoint(
+      pose.position, *inout_path, safe_velocity);
     if (decel_pose) debug_poses.push_back(decel_pose.value());
   }
 }

diff --git a/...ot_module/src/risk_predictive_braking.hpp → ...ot_module/src/risk_predictive_braking.hpp b/...ot_module/src/risk_predictive_braking.hpp → ...ot_module/src/risk_predictive_braking.hpp
diff --git a/..._spot_module/src/scene_occlusion_spot.cpp → ..._spot_module/src/scene_occlusion_spot.cpp b/..._spot_module/src/scene_occlusion_spot.cpp → ..._spot_module/src/scene_occlusion_spot.cpp
@@ -61,7 +61,8 @@ namespace autoware::behavior_velocity_planner
 namespace utils = occlusion_spot_utils;
 
 OcclusionSpotModule::OcclusionSpotModule(
-  const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
+  const int64_t module_id,
+  const std::shared_ptr<const PlannerData> & planner_data,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
   const rclcpp::Clock::SharedPtr clock)
 : SceneModuleInterface(module_id, logger, clock), param_(planner_param)

diff --git a/..._spot_module/src/scene_occlusion_spot.hpp → ..._spot_module/src/scene_occlusion_spot.hpp b/..._spot_module/src/scene_occlusion_spot.hpp → ..._spot_module/src/scene_occlusion_spot.hpp
@@ -46,14 +46,16 @@ class OcclusionSpotModule : public SceneModuleInterface
 
 public:
   OcclusionSpotModule(
-    const int64_t module_id, const std::shared_ptr<const PlannerData> & planner_data,
+    const int64_t module_id,
+    const std::shared_ptr<const PlannerData> & planner_data,
     const PlannerParam & planner_param, const rclcpp::Logger & logger,
     const rclcpp::Clock::SharedPtr clock);
 
   /**
    * @brief plan occlusion spot velocity at unknown area in occupancy grid
    */
-  bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override;
+  bool modifyPathVelocity(
+    PathWithLaneId * path, StopReason * stop_reason) override;
 
   visualization_msgs::msg::MarkerArray createDebugMarkerArray() override;
   motion_utils::VirtualWalls createVirtualWalls() override;

diff --git a/..._spot_module/test/src/test_grid_utils.cpp → ..._spot_module/test/src/test_grid_utils.cpp b/..._spot_module/test/src/test_grid_utils.cpp → ..._spot_module/test/src/test_grid_utils.cpp
diff --git a/...le/test/src/test_occlusion_spot_utils.cpp → ...le/test/src/test_occlusion_spot_utils.cpp b/...le/test/src/test_occlusion_spot_utils.cpp → ...le/test/src/test_occlusion_spot_utils.cpp
diff --git a/...test/src/test_risk_predictive_braking.cpp → ...test/src/test_risk_predictive_braking.cpp b/...test/src/test_risk_predictive_braking.cpp → ...test/src/test_risk_predictive_braking.cpp
diff --git a/..._occlusion_spot_module/test/src/utils.hpp → ..._occlusion_spot_module/test/src/utils.hpp b/..._occlusion_spot_module/test/src/utils.hpp → ..._occlusion_spot_module/test/src/utils.hpp