refactor: update include paths for object association modules

autowarefoundation · Jun 24, 2024 · 0c0139f · 0c0139f
1 parent 6ac4b24
commit 0c0139f
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Showing 12 changed files with 58 additions and 132 deletions.
diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
@@ -18,19 +18,19 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(object_association_merger SHARED
-  src/object_association_merger/data_association/data_association.cpp
-  src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-  src/object_association_merger/node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/data_association/data_association.cpp
+  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
+  src/node.cpp
 )
 
-target_link_libraries(object_association_merger
+target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
 )
 
-rclcpp_components_register_node(object_association_merger
-  PLUGIN "object_association::ObjectAssociationMergerNode"
-  EXECUTABLE object_association_merger_node
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::object_merger::ObjectAssociationMergerNode"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 ament_auto_package(INSTALL_TO_SHARE

diff --git a/...ger/data_association/data_association.hpp → ...ger/data_association/data_association.hpp b/...ger/data_association/data_association.hpp → ...ger/data_association/data_association.hpp
@@ -16,21 +16,22 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-
-#include <list>
-#include <memory>
-#include <unordered_map>
-#include <vector>
+#ifndef AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
-#include "object_merger/data_association/solver/gnn_solver.hpp"
+
+#include "autoware/object_merger/data_association/solver/gnn_solver.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
+
+#include <list>
+#include <memory>
+#include <unordered_map>
+#include <vector>
 
 class DataAssociation
 {
@@ -56,4 +57,4 @@ class DataAssociation
   virtual ~DataAssociation() {}
 };
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/...er/data_association/solver/gnn_solver.hpp → ...er/data_association/solver/gnn_solver.hpp b/...er/data_association/solver/gnn_solver.hpp → ...er/data_association/solver/gnn_solver.hpp
@@ -12,11 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
-#include "object_merger/data_association/solver/mu_successive_shortest_path.hpp"
-#include "object_merger/data_association/solver/successive_shortest_path.hpp"
+#include "autoware/object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/data_association/solver/mu_successive_shortest_path.hpp"
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp b/...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
 };
 }  // namespace gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/...on/solver/mu_successive_shortest_path.hpp → ...on/solver/mu_successive_shortest_path.hpp b/...on/solver/mu_successive_shortest_path.hpp → ...on/solver/mu_successive_shortest_path.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#define AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/data_association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface
 };
 }  // namespace gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
diff --git a/...ation/solver/successive_shortest_path.hpp → ...ation/solver/successive_shortest_path.hpp b/...ation/solver/successive_shortest_path.hpp → ...ation/solver/successive_shortest_path.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#define AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/data_association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface
 };
 }  // namespace gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
diff --git a/...ect_merger/include/object_merger/node.hpp → ...r/include/autoware/object_merger/node.hpp b/...ect_merger/include/object_merger/node.hpp → ...r/include/autoware/object_merger/node.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__NODE_HPP_
-#define OBJECT_MERGER__NODE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__NODE_HPP_
+#define AUTOWARE__OBJECT_MERGER__NODE_HPP_
 
-#include "object_merger/data_association/data_association.hpp"
+#include "autoware/object_merger/data_association/data_association.hpp"
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/ros/published_time_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
-#include <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/ros/published_time_publisher.hpp>
-#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
@@ -45,7 +45,7 @@
 #include <string>
 #include <vector>
 
-namespace object_association
+namespace autoware::object_merger
 {
 class ObjectAssociationMergerNode : public rclcpp::Node
 {
@@ -89,6 +89,6 @@ class ObjectAssociationMergerNode : public rclcpp::Node
 
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace object_association
+}  // namespace autoware::object_merger
 
-#endif  // OBJECT_MERGER__NODE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__NODE_HPP_
diff --git a/perception/object_merger/include/object_merger/utils/utils.hpp b/perception/object_merger/include/object_merger/utils/utils.hpp
diff --git a/...ger/data_association/data_association.cpp → ...src/data_association/data_association.cpp b/...ger/data_association/data_association.cpp → ...src/data_association/data_association.cpp
@@ -12,11 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/data_association.hpp"
+#include "autoware/object_merger/data_association/data_association.hpp"
 
+#include "autoware/object_merger/data_association/solver/gnn_solver.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_merger/data_association/solver/gnn_solver.hpp"
-#include "object_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <algorithm>

diff --git a/...h/mu_successive_shortest_path_wrapper.cpp → ...h/mu_successive_shortest_path_wrapper.cpp b/...h/mu_successive_shortest_path_wrapper.cpp → ...h/mu_successive_shortest_path_wrapper.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/solver/mu_successive_shortest_path.hpp"
+#include "autoware/object_merger/data_association/solver/mu_successive_shortest_path.hpp"
 
 #include <mussp/mussp.h>
 

diff --git a/...hortest_path/successive_shortest_path.cpp → ...hortest_path/successive_shortest_path.cpp b/...hortest_path/successive_shortest_path.cpp → ...hortest_path/successive_shortest_path.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/solver/successive_shortest_path.hpp"
+#include "autoware/object_merger/data_association/solver/successive_shortest_path.hpp"
 
 #include <algorithm>
 #include <cassert>

diff --git a/...er/src/object_association_merger/node.cpp → perception/object_merger/src/node.cpp b/...er/src/object_association_merger/node.cpp → perception/object_merger/src/node.cpp
@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/node.hpp"
+#define EIGEN_MPL2_ONLY
+
+#include "autoware/object_merger/node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
 #include <boost/optional.hpp>
 
 #include <chrono>
 #include <unordered_map>
 
-#define EIGEN_MPL2_ONLY
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 namespace
@@ -70,7 +70,7 @@ std::map<int, double> convertListToClassMap(const std::vector<double> & distance
 }
 }  // namespace
 
-namespace object_association
+namespace autoware::object_merger
 {
 ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("object_association_merger_node", node_options),
@@ -233,7 +233,7 @@ void ObjectAssociationMergerNode::objectsCallback(
   processing_time_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
     "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true));
 }
-}  // namespace object_association
+}  // namespace autoware::object_merger
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(object_association::ObjectAssociationMergerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::object_merger::ObjectAssociationMergerNode)