refactor(behavior velocity intersection)!: prefix package and namespa…

…ce with autoware_ (#7315) Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jul 22, 2024 · 2285394 · 2285394
1 parent c036cdf
commit 2285394
Show file tree

Hide file tree

Showing 54 changed files with 212 additions and 255 deletions.
diff --git a/planning/.pages b/planning/.pages
@@ -25,7 +25,7 @@ nav:
         - 'Crosswalk': planning/behavior_velocity_crosswalk_module
         - 'Detection Area': planning/behavior_velocity_detection_area_module
         - 'Dynamic Obstacle Stop': planning/behavior_velocity_dynamic_obstacle_stop_module
-        - 'Intersection': planning/behavior_velocity_intersection_module
+        - 'Intersection': planning/autoware_behavior_velocity_intersection_module
         - 'No Drivable Lane': planning/behavior_velocity_no_drivable_lane_module
         - 'No Stopping Area': planning/behavior_velocity_no_stopping_area_module
         - 'Occlusion Spot': planning/behavior_velocity_occlusion_spot_module

diff --git a/...locity_intersection_module/CMakeLists.txt → ...locity_intersection_module/CMakeLists.txt b/...locity_intersection_module/CMakeLists.txt → ...locity_intersection_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_intersection_module)
+project(autoware_behavior_velocity_intersection_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...or_velocity_intersection_module/README.md → ...or_velocity_intersection_module/README.md b/...or_velocity_intersection_module/README.md → ...or_velocity_intersection_module/README.md
diff --git a/...ion_module/config/intersection.param.yaml → ...ion_module/config/intersection.param.yaml b/...ion_module/config/intersection.param.yaml → ...ion_module/config/intersection.param.yaml
diff --git a/...ion_module/docs/data-structure.drawio.svg → ...ion_module/docs/data-structure.drawio.svg b/...ion_module/docs/data-structure.drawio.svg → ...ion_module/docs/data-structure.drawio.svg
diff --git a/...s/intersection-attention-ll-rr.drawio.svg → ...s/intersection-attention-ll-rr.drawio.svg b/...s/intersection-attention-ll-rr.drawio.svg → ...s/intersection-attention-ll-rr.drawio.svg
diff --git a/...s/intersection-attention-lr-rl.drawio.svg → ...s/intersection-attention-lr-rl.drawio.svg b/...s/intersection-attention-lr-rl.drawio.svg → ...s/intersection-attention-lr-rl.drawio.svg
diff --git a/...ntersection-attention-straight.drawio.svg → ...ntersection-attention-straight.drawio.svg b/...ntersection-attention-straight.drawio.svg → ...ntersection-attention-straight.drawio.svg
diff --git a/...le/docs/intersection-attention.drawio.svg → ...le/docs/intersection-attention.drawio.svg b/...le/docs/intersection-attention.drawio.svg → ...le/docs/intersection-attention.drawio.svg
diff --git a/...le/docs/intersection-stoplines.drawio.svg → ...le/docs/intersection-stoplines.drawio.svg b/...le/docs/intersection-stoplines.drawio.svg → ...le/docs/intersection-stoplines.drawio.svg
diff --git a/...ule/docs/intersection-topology.drawio.svg → ...ule/docs/intersection-topology.drawio.svg b/...ule/docs/intersection-topology.drawio.svg → ...ule/docs/intersection-topology.drawio.svg
diff --git a/...ection_module/docs/merge_from_private.png → ...ection_module/docs/merge_from_private.png b/...ection_module/docs/merge_from_private.png → ...ection_module/docs/merge_from_private.png
diff --git a/..._module/docs/occlusion-with-tl.drawio.svg → ..._module/docs/occlusion-with-tl.drawio.svg b/..._module/docs/occlusion-with-tl.drawio.svg → ..._module/docs/occlusion-with-tl.drawio.svg
diff --git a/...dule/docs/occlusion-without-tl.drawio.svg → ...dule/docs/occlusion-without-tl.drawio.svg b/...dule/docs/occlusion-without-tl.drawio.svg → ...dule/docs/occlusion-without-tl.drawio.svg
diff --git a/..._module/docs/occlusion-wo-tl-creeping.png → ..._module/docs/occlusion-wo-tl-creeping.png b/..._module/docs/occlusion-wo-tl-creeping.png → ..._module/docs/occlusion-wo-tl-creeping.png
diff --git a/...ion_module/docs/occlusion_grid.drawio.svg → ...ion_module/docs/occlusion_grid.drawio.svg b/...ion_module/docs/occlusion_grid.drawio.svg → ...ion_module/docs/occlusion_grid.drawio.svg
diff --git a/...on_module/docs/pass-judge-line.drawio.svg → ...on_module/docs/pass-judge-line.drawio.svg b/...on_module/docs/pass-judge-line.drawio.svg → ...on_module/docs/pass-judge-line.drawio.svg
diff --git a/...module/docs/signal-phase-group.drawio.svg → ...module/docs/signal-phase-group.drawio.svg b/...module/docs/signal-phase-group.drawio.svg → ...module/docs/signal-phase-group.drawio.svg
diff --git a/..._module/docs/static-occlusion-timeout.png → ..._module/docs/static-occlusion-timeout.png b/..._module/docs/static-occlusion-timeout.png → ..._module/docs/static-occlusion-timeout.png
diff --git a/...tion_module/docs/stuck-vehicle.drawio.svg → ...tion_module/docs/stuck-vehicle.drawio.svg b/...tion_module/docs/stuck-vehicle.drawio.svg → ...tion_module/docs/stuck-vehicle.drawio.svg
diff --git a/...raffic-light-specific-behavior.drawio.svg → ...raffic-light-specific-behavior.drawio.svg b/...raffic-light-specific-behavior.drawio.svg → ...raffic-light-specific-behavior.drawio.svg
diff --git a/...velocity_intersection_module/docs/ttc.gif → ...velocity_intersection_module/docs/ttc.gif b/...velocity_intersection_module/docs/ttc.gif → ...velocity_intersection_module/docs/ttc.gif
diff --git a/..._module/docs/ugly-intersection.drawio.svg → ..._module/docs/ugly-intersection.drawio.svg b/..._module/docs/ugly-intersection.drawio.svg → ..._module/docs/ugly-intersection.drawio.svg
diff --git a/..._module/docs/upstream-velocity.drawio.svg → ..._module/docs/upstream-velocity.drawio.svg b/..._module/docs/upstream-velocity.drawio.svg → ..._module/docs/upstream-velocity.drawio.svg
diff --git a/...ection_module/docs/yield-stuck.drawio.svg → ...ection_module/docs/yield-stuck.drawio.svg b/...ection_module/docs/yield-stuck.drawio.svg → ...ection_module/docs/yield-stuck.drawio.svg
diff --git a/..._velocity_intersection_module/package.xml → ..._velocity_intersection_module/package.xml b/..._velocity_intersection_module/package.xml → ..._velocity_intersection_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_intersection_module</name>
+  <name>autoware_behavior_velocity_intersection_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_intersection_module package</description>
+  <description>The autoware_behavior_velocity_intersection_module package</description>
 
   <maintainer email="[email protected]">Mamoru Sobue</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>

diff --git a/planning/autoware_behavior_velocity_intersection_module/plugins.xml b/planning/autoware_behavior_velocity_intersection_module/plugins.xml
@@ -0,0 +1,4 @@
+<library path="autoware_behavior_velocity_intersection_module">
+  <class type="autoware::behavior_velocity_planner::IntersectionModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
+  <class type="autoware::behavior_velocity_planner::MergeFromPrivateModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/...locity_intersection_module/scripts/ttc.py → ...locity_intersection_module/scripts/ttc.py b/...locity_intersection_module/scripts/ttc.py → ...locity_intersection_module/scripts/ttc.py
diff --git a/...elocity_intersection_module/src/debug.cpp → ...elocity_intersection_module/src/debug.cpp b/...elocity_intersection_module/src/debug.cpp → ...elocity_intersection_module/src/debug.cpp
diff --git a/...tersection_module/src/decision_result.cpp → ...tersection_module/src/decision_result.cpp b/...tersection_module/src/decision_result.cpp → ...tersection_module/src/decision_result.cpp
@@ -14,7 +14,7 @@
 
 #include "decision_result.hpp"
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 std::string formatDecisionResult(const DecisionResult & decision_result)
 {
@@ -65,4 +65,4 @@ std::string formatDecisionResult(const DecisionResult & decision_result)
   return "";
 }
 
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
diff --git a/...tersection_module/src/decision_result.hpp → ...tersection_module/src/decision_result.hpp b/...tersection_module/src/decision_result.hpp → ...tersection_module/src/decision_result.hpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <variant>
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 /**
@@ -172,6 +172,6 @@ using DecisionResult = std::variant<
 
 std::string formatDecisionResult(const DecisionResult & decision_result);
 
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
 
 #endif  // DECISION_RESULT_HPP_
diff --git a/...ion_module/src/interpolated_path_info.hpp → ...ion_module/src/interpolated_path_info.hpp b/...ion_module/src/interpolated_path_info.hpp → ...ion_module/src/interpolated_path_info.hpp
@@ -23,7 +23,7 @@
 #include <set>
 #include <utility>
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 /**
@@ -43,6 +43,6 @@ struct InterpolatedPathInfo
   std::optional<std::pair<size_t, size_t>> lane_id_interval{std::nullopt};
 };
 
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
 
 #endif  // INTERPOLATED_PATH_INFO_HPP_
diff --git a/...tion_module/src/intersection_lanelets.cpp → ...tion_module/src/intersection_lanelets.cpp b/...tion_module/src/intersection_lanelets.cpp → ...tion_module/src/intersection_lanelets.cpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 void IntersectionLanelets::update(
@@ -79,4 +79,4 @@ void IntersectionLanelets::update(
     }
   }
 }
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
diff --git a/...tion_module/src/intersection_lanelets.hpp → ...tion_module/src/intersection_lanelets.hpp b/...tion_module/src/intersection_lanelets.hpp → ...tion_module/src/intersection_lanelets.hpp
@@ -27,7 +27,7 @@
 #include <optional>
 #include <vector>
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 /**
@@ -190,6 +190,6 @@ struct PathLanelets
                                          // conflicting lanelets plus the next lane part of the
                                          // path
 };
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
 
 #endif  // INTERSECTION_LANELETS_HPP_
diff --git a/...ion_module/src/intersection_stoplines.hpp → ...ion_module/src/intersection_stoplines.hpp b/...ion_module/src/intersection_stoplines.hpp → ...ion_module/src/intersection_stoplines.hpp
@@ -17,7 +17,7 @@
 
 #include <optional>
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 /**
@@ -72,6 +72,6 @@ struct IntersectionStopLines
    */
   size_t occlusion_wo_tl_pass_judge_line{0};
 };
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
 
 #endif  // INTERSECTION_STOPLINES_HPP_
diff --git a/...ocity_intersection_module/src/manager.cpp → ...ocity_intersection_module/src/manager.cpp b/...ocity_intersection_module/src/manager.cpp → ...ocity_intersection_module/src/manager.cpp
diff --git a/...ocity_intersection_module/src/manager.hpp → ...ocity_intersection_module/src/manager.hpp b/...ocity_intersection_module/src/manager.hpp → ...ocity_intersection_module/src/manager.hpp
diff --git a/...ntersection_module/src/object_manager.cpp → ...ntersection_module/src/object_manager.cpp b/...ntersection_module/src/object_manager.cpp → ...ntersection_module/src/object_manager.cpp
@@ -64,7 +64,7 @@ tier4_autoware_utils::Polygon2d createOneStepPolygon(
 
 }  // namespace
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 namespace bg = boost::geometry;
 
@@ -201,7 +201,7 @@ std::shared_ptr<ObjectInfo> ObjectInfoManager::registerObject(
   const bool belong_intersection_area, const bool is_parked_vehicle)
 {
   if (objects_info_.count(uuid) == 0) {
-    auto object = std::make_shared<intersection::ObjectInfo>(uuid);
+    auto object = std::make_shared<ObjectInfo>(uuid);
     objects_info_[uuid] = object;
   }
   auto object = objects_info_[uuid];
@@ -219,7 +219,7 @@ std::shared_ptr<ObjectInfo> ObjectInfoManager::registerObject(
 void ObjectInfoManager::registerExistingObject(
   const unique_identifier_msgs::msg::UUID & uuid, const bool belong_attention_area,
   const bool belong_intersection_area, const bool is_parked_vehicle,
-  std::shared_ptr<intersection::ObjectInfo> object)
+  std::shared_ptr<ObjectInfo> object)
 {
   objects_info_[uuid] = object;
   if (belong_attention_area) {
@@ -249,7 +249,7 @@ std::vector<std::shared_ptr<ObjectInfo>> ObjectInfoManager::allObjects() const
   return all_objects;
 }
 
-std::optional<intersection::CollisionInterval> findPassageInterval(
+std::optional<CollisionInterval> findPassageInterval(
   const autoware_perception_msgs::msg::PredictedPath & predicted_path,
   const autoware_perception_msgs::msg::Shape & shape, const lanelet::BasicPolygon2d & ego_lane_poly,
   const std::optional<lanelet::ConstLanelet> & first_attention_lane_opt,
@@ -284,25 +284,25 @@ std::optional<intersection::CollisionInterval> findPassageInterval(
       if (lanelet::geometry::inside(
             first_attention_lane_opt.value(),
             lanelet::BasicPoint2d(first_itr->position.x, first_itr->position.y))) {
-        return intersection::CollisionInterval::LanePosition::FIRST;
+        return CollisionInterval::LanePosition::FIRST;
       }
     }
     if (second_attention_lane_opt) {
       if (lanelet::geometry::inside(
             second_attention_lane_opt.value(),
             lanelet::BasicPoint2d(first_itr->position.x, first_itr->position.y))) {
-        return intersection::CollisionInterval::LanePosition::SECOND;
+        return CollisionInterval::LanePosition::SECOND;
       }
     }
-    return intersection::CollisionInterval::LanePosition::ELSE;
+    return CollisionInterval::LanePosition::ELSE;
   }();
 
   std::vector<geometry_msgs::msg::Pose> path;
   for (const auto & pose : predicted_path.path) {
     path.push_back(pose);
   }
-  return intersection::CollisionInterval{
+  return CollisionInterval{
     lane_position, path, {enter_idx, exit_idx}, {object_enter_time, object_exit_time}};
 }
 
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
diff --git a/...ntersection_module/src/object_manager.hpp → ...ntersection_module/src/object_manager.hpp b/...ntersection_module/src/object_manager.hpp → ...ntersection_module/src/object_manager.hpp
@@ -52,7 +52,7 @@ struct hash<unique_identifier_msgs::msg::UUID>
 };
 }  // namespace std
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 /**
@@ -234,8 +234,7 @@ class ObjectInfoManager
 
   void registerExistingObject(
     const unique_identifier_msgs::msg::UUID & uuid, const bool belong_attention_area,
-    const bool belong_intersection_area, const bool is_parked,
-    std::shared_ptr<intersection::ObjectInfo> object);
+    const bool belong_intersection_area, const bool is_parked, std::shared_ptr<ObjectInfo> object);
 
   void clearObjects();
 
@@ -282,12 +281,12 @@ class ObjectInfoManager
 /**
  * @brief return the CollisionInterval struct if the predicted path collides ego path geometrically
  */
-std::optional<intersection::CollisionInterval> findPassageInterval(
+std::optional<CollisionInterval> findPassageInterval(
   const autoware_perception_msgs::msg::PredictedPath & predicted_path,
   const autoware_perception_msgs::msg::Shape & shape, const lanelet::BasicPolygon2d & ego_lane_poly,
   const std::optional<lanelet::ConstLanelet> & first_attention_lane_opt,
   const std::optional<lanelet::ConstLanelet> & second_attention_lane_opt);
 
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
 
 #endif  // OBJECT_MANAGER_HPP_
diff --git a/...locity_intersection_module/src/result.hpp → ...locity_intersection_module/src/result.hpp b/...locity_intersection_module/src/result.hpp → ...locity_intersection_module/src/result.hpp
@@ -18,7 +18,7 @@
 #include <utility>
 #include <variant>
 
-namespace behavior_velocity_planner::intersection
+namespace behavior_velocity_planner
 {
 
 template <typename Ok, typename Error>
@@ -48,6 +48,6 @@ Result<Ok, Error> make_err(Args &&... args)
   return Result<Ok, Error>(Error{std::forward<Args>(args)...});
 }
 
-}  // namespace behavior_velocity_planner::intersection
+}  // namespace behavior_velocity_planner
 
 #endif  // RESULT_HPP_