autowarefoundation · maxime-clem · Jun 10, 2024 · Jun 7, 2024
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
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
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
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
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
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
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