From 5badea83219ba4a730941c40a513f3f4fed804b1 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Tue, 2 Jul 2024 12:33:34 +0200 Subject: [PATCH] refactor(kalman_filter): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 12 ++++++------ .../README.md | 0 .../autoware}/kalman_filter/kalman_filter.hpp | 10 +++++++--- .../kalman_filter/time_delay_kalman_filter.hpp | 11 +++++++---- .../package.xml | 2 +- .../src/kalman_filter.cpp | 5 ++++- .../src/time_delay_kalman_filter.cpp | 5 ++++- .../test/test_kalman_filter.cpp | 4 +++- .../test/test_time_delay_kalman_filter.cpp | 4 +++- .../include/ekf_localizer/ekf_module.hpp | 6 ++++-- localization/ekf_localizer/package.xml | 2 +- perception/autoware_bytetrack/lib/include/strack.h | 5 +++-- perception/autoware_bytetrack/package.xml | 2 +- .../tracker/model/bicycle_tracker.hpp | 2 +- .../tracker/model/big_vehicle_tracker.hpp | 2 +- .../tracker/model/multiple_vehicle_tracker.hpp | 2 +- .../tracker/model/normal_vehicle_tracker.hpp | 2 +- .../tracker/model/pass_through_tracker.hpp | 2 +- .../tracker/model/pedestrian_and_bicycle_tracker.hpp | 2 +- .../tracker/model/pedestrian_tracker.hpp | 2 +- .../tracker/model/unknown_tracker.hpp | 2 +- .../tracker/motion_model/bicycle_motion_model.hpp | 2 +- .../tracker/motion_model/ctrv_motion_model.hpp | 2 +- .../tracker/motion_model/cv_motion_model.hpp | 2 +- .../tracker/motion_model/motion_model_base.hpp | 3 ++- perception/autoware_multi_object_tracker/package.xml | 2 +- .../model/constant_turn_rate_motion_tracker.hpp | 3 ++- .../tracker/model/linear_motion_tracker.hpp | 4 +++- perception/autoware_radar_object_tracker/package.xml | 2 +- 30 files changed, 65 insertions(+), 41 deletions(-) rename common/{kalman_filter => autoware_kalman_filter}/CMakeLists.txt (54%) rename common/{kalman_filter => autoware_kalman_filter}/README.md (100%) rename common/{kalman_filter/include => autoware_kalman_filter/include/autoware}/kalman_filter/kalman_filter.hpp (96%) rename common/{kalman_filter/include => autoware_kalman_filter/include/autoware}/kalman_filter/time_delay_kalman_filter.hpp (89%) rename common/{kalman_filter => autoware_kalman_filter}/package.xml (96%) rename common/{kalman_filter => autoware_kalman_filter}/src/kalman_filter.cpp (96%) rename common/{kalman_filter => autoware_kalman_filter}/src/time_delay_kalman_filter.cpp (95%) rename common/{kalman_filter => autoware_kalman_filter}/test/test_kalman_filter.cpp (96%) rename common/{kalman_filter => autoware_kalman_filter}/test/test_time_delay_kalman_filter.cpp (97%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index caeebe87193cf..522d70929dc92 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -2,6 +2,7 @@ common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_grid_map_utils/** maxime.clement@tier4.jp +common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai @@ -22,7 +23,6 @@ common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp common/glog_component/** takamasa.horibe@tier4.jp common/goal_distance_calculator/** taiki.tanaka@tier4.jp common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp -common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp common/object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/perception_utils/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp diff --git a/common/kalman_filter/CMakeLists.txt b/common/autoware_kalman_filter/CMakeLists.txt similarity index 54% rename from common/kalman_filter/CMakeLists.txt rename to common/autoware_kalman_filter/CMakeLists.txt index 6cbdf67a0affa..076d2d3cad4e8 100644 --- a/common/kalman_filter/CMakeLists.txt +++ b/common/autoware_kalman_filter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(kalman_filter) +project(autoware_kalman_filter) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,18 +12,18 @@ include_directories( ${EIGEN3_INCLUDE_DIR} ) -ament_auto_add_library(kalman_filter SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/kalman_filter.cpp src/time_delay_kalman_filter.cpp - include/kalman_filter/kalman_filter.hpp - include/kalman_filter/time_delay_kalman_filter.hpp + include/autoware/kalman_filter/kalman_filter.hpp + include/autoware/kalman_filter/time_delay_kalman_filter.hpp ) if(BUILD_TESTING) file(GLOB_RECURSE test_files test/*.cpp) - ament_add_ros_isolated_gtest(test_kalman_filter ${test_files}) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files}) - target_link_libraries(test_kalman_filter kalman_filter) + target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}) endif() ament_auto_package() diff --git a/common/kalman_filter/README.md b/common/autoware_kalman_filter/README.md similarity index 100% rename from common/kalman_filter/README.md rename to common/autoware_kalman_filter/README.md diff --git a/common/kalman_filter/include/kalman_filter/kalman_filter.hpp b/common/autoware_kalman_filter/include/autoware/kalman_filter/kalman_filter.hpp similarity index 96% rename from common/kalman_filter/include/kalman_filter/kalman_filter.hpp rename to common/autoware_kalman_filter/include/autoware/kalman_filter/kalman_filter.hpp index b500cffb92279..74db04f6e838b 100644 --- a/common/kalman_filter/include/kalman_filter/kalman_filter.hpp +++ b/common/autoware_kalman_filter/include/autoware/kalman_filter/kalman_filter.hpp @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KALMAN_FILTER__KALMAN_FILTER_HPP_ -#define KALMAN_FILTER__KALMAN_FILTER_HPP_ +#ifndef AUTOWARE__KALMAN_FILTER__KALMAN_FILTER_HPP_ +#define AUTOWARE__KALMAN_FILTER__KALMAN_FILTER_HPP_ #include #include +namespace autoware::kalman_filter +{ + /** * @file kalman_filter.h * @brief kalman filter class @@ -207,4 +210,5 @@ class KalmanFilter Eigen::MatrixXd R_; //!< @brief covariance matrix for measurement model y[k] = C * x[k] Eigen::MatrixXd P_; //!< @brief covariance of estimated state }; -#endif // KALMAN_FILTER__KALMAN_FILTER_HPP_ +} // namespace autoware::kalman_filter +#endif // AUTOWARE__KALMAN_FILTER__KALMAN_FILTER_HPP_ diff --git a/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp b/common/autoware_kalman_filter/include/autoware/kalman_filter/time_delay_kalman_filter.hpp similarity index 89% rename from common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp rename to common/autoware_kalman_filter/include/autoware/kalman_filter/time_delay_kalman_filter.hpp index cdc03f3558854..80375b7579e62 100644 --- a/common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp +++ b/common/autoware_kalman_filter/include/autoware/kalman_filter/time_delay_kalman_filter.hpp @@ -12,16 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_ -#define KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_ +#ifndef AUTOWARE__KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_ +#define AUTOWARE__KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_ -#include "kalman_filter/kalman_filter.hpp" +#include "autoware/kalman_filter/kalman_filter.hpp" #include #include #include +namespace autoware::kalman_filter +{ /** * @file time_delay_kalman_filter.h * @brief kalman filter with delayed measurement class @@ -83,4 +85,5 @@ class TimeDelayKalmanFilter : public KalmanFilter int dim_x_; //!< @brief dimension of latest state int dim_x_ex_; //!< @brief dimension of extended state with dime delay }; -#endif // KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_ +} // namespace autoware::kalman_filter +#endif // AUTOWARE__KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_ diff --git a/common/kalman_filter/package.xml b/common/autoware_kalman_filter/package.xml similarity index 96% rename from common/kalman_filter/package.xml rename to common/autoware_kalman_filter/package.xml index 200440b5774c7..7d36bfc47aecf 100644 --- a/common/kalman_filter/package.xml +++ b/common/autoware_kalman_filter/package.xml @@ -1,7 +1,7 @@ - kalman_filter + autoware_kalman_filter 0.1.0 The kalman filter package Yukihiro Saito diff --git a/common/kalman_filter/src/kalman_filter.cpp b/common/autoware_kalman_filter/src/kalman_filter.cpp similarity index 96% rename from common/kalman_filter/src/kalman_filter.cpp rename to common/autoware_kalman_filter/src/kalman_filter.cpp index 450d40936db2e..bbd963675f9e2 100644 --- a/common/kalman_filter/src/kalman_filter.cpp +++ b/common/autoware_kalman_filter/src/kalman_filter.cpp @@ -12,8 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kalman_filter/kalman_filter.hpp" +#include "autoware/kalman_filter/kalman_filter.hpp" +namespace autoware::kalman_filter +{ KalmanFilter::KalmanFilter() { } @@ -156,3 +158,4 @@ bool KalmanFilter::update(const Eigen::MatrixXd & y) { return update(y, C_, R_); } +} // namespace autoware::kalman_filter diff --git a/common/kalman_filter/src/time_delay_kalman_filter.cpp b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp similarity index 95% rename from common/kalman_filter/src/time_delay_kalman_filter.cpp rename to common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp index c4143429e6c05..31c1c768d7173 100644 --- a/common/kalman_filter/src/time_delay_kalman_filter.cpp +++ b/common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp @@ -12,8 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kalman_filter/time_delay_kalman_filter.hpp" +#include "autoware/kalman_filter/time_delay_kalman_filter.hpp" +namespace autoware::kalman_filter +{ TimeDelayKalmanFilter::TimeDelayKalmanFilter() { } @@ -102,3 +104,4 @@ bool TimeDelayKalmanFilter::updateWithDelay( return true; } +} // namespace autoware::kalman_filter diff --git a/common/kalman_filter/test/test_kalman_filter.cpp b/common/autoware_kalman_filter/test/test_kalman_filter.cpp similarity index 96% rename from common/kalman_filter/test/test_kalman_filter.cpp rename to common/autoware_kalman_filter/test/test_kalman_filter.cpp index 4f4e9ce44669b..34e23ef9d06e2 100644 --- a/common/kalman_filter/test/test_kalman_filter.cpp +++ b/common/autoware_kalman_filter/test/test_kalman_filter.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kalman_filter/kalman_filter.hpp" +#include "autoware/kalman_filter/kalman_filter.hpp" #include +using autoware::kalman_filter::KalmanFilter; + TEST(kalman_filter, kf) { KalmanFilter kf_; diff --git a/common/kalman_filter/test/test_time_delay_kalman_filter.cpp b/common/autoware_kalman_filter/test/test_time_delay_kalman_filter.cpp similarity index 97% rename from common/kalman_filter/test/test_time_delay_kalman_filter.cpp rename to common/autoware_kalman_filter/test/test_time_delay_kalman_filter.cpp index 32fefd8ceff70..50c22fae123bc 100644 --- a/common/kalman_filter/test/test_time_delay_kalman_filter.cpp +++ b/common/autoware_kalman_filter/test/test_time_delay_kalman_filter.cpp @@ -12,10 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "kalman_filter/time_delay_kalman_filter.hpp" +#include "autoware/kalman_filter/time_delay_kalman_filter.hpp" #include +using autoware::kalman_filter::TimeDelayKalmanFilter; + TEST(time_delay_kalman_filter, td_kf) { TimeDelayKalmanFilter td_kf_; diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp index 5eda1156327b5..a127d2ae81433 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp @@ -19,8 +19,8 @@ #include "ekf_localizer/state_index.hpp" #include "ekf_localizer/warning.hpp" -#include -#include +#include +#include #include #include @@ -34,6 +34,8 @@ #include #include +using autoware::kalman_filter::TimeDelayKalmanFilter; + struct EKFDiagnosticInfo { size_t no_update_count{0}; diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index b53538de11f15..34881ddd3c68c 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -22,11 +22,11 @@ eigen + autoware_kalman_filter autoware_universe_utils diagnostic_msgs fmt geometry_msgs - kalman_filter localization_util nav_msgs rclcpp diff --git a/perception/autoware_bytetrack/lib/include/strack.h b/perception/autoware_bytetrack/lib/include/strack.h index 260f38ea93770..b66005eadce0f 100644 --- a/perception/autoware_bytetrack/lib/include/strack.h +++ b/perception/autoware_bytetrack/lib/include/strack.h @@ -38,8 +38,7 @@ #pragma once -// #include "kalman_filter.h" -#include +#include #include #include @@ -49,6 +48,8 @@ enum TrackState { New = 0, Tracked, Lost, Removed }; +using autoware::kalman_filter::KalmanFilter; + /** manage one tracklet*/ class STrack { diff --git a/perception/autoware_bytetrack/package.xml b/perception/autoware_bytetrack/package.xml index ef2d96e7930d4..581d908b61a51 100644 --- a/perception/autoware_bytetrack/package.xml +++ b/perception/autoware_bytetrack/package.xml @@ -15,12 +15,12 @@ cudnn_cmake_module tensorrt_cmake_module + autoware_kalman_filter autoware_perception_msgs cuda_utils cv_bridge eigen image_transport - kalman_filter libboost-system-dev libopencv-dev rclcpp diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp index 5374e28d5f9cf..7cb2963d38ef1 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp @@ -19,10 +19,10 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" #include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" -#include "kalman_filter/kalman_filter.hpp" namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp index c3f824aff35b4..227e6cd01f4dc 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp @@ -19,10 +19,10 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" #include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" -#include "kalman_filter/kalman_filter.hpp" namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp index a0a6bd7781761..868aa1606d4ff 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp @@ -19,10 +19,10 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp" #include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" -#include "kalman_filter/kalman_filter.hpp" #include diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp index f7edebfc31378..8f5bab65c6aed 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp @@ -19,10 +19,10 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp" #include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" -#include "kalman_filter/kalman_filter.hpp" namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp index e7f0a5fd699e1..45cd0f31a4e85 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp @@ -19,7 +19,7 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_ -#include "kalman_filter/kalman_filter.hpp" +#include "autoware/kalman_filter/kalman_filter.hpp" #include "tracker_base.hpp" namespace autoware::multi_object_tracker diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp index f593280c2e183..4287e0f99d5ee 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp @@ -19,10 +19,10 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp" #include "autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" -#include "kalman_filter/kalman_filter.hpp" namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp index 1e0f778a69137..500148ba41081 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp @@ -19,10 +19,10 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp" #include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp" -#include "kalman_filter/kalman_filter.hpp" namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp index 4bc03f439ffc2..9f128c864ad6c 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp @@ -19,9 +19,9 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp" -#include "kalman_filter/kalman_filter.hpp" namespace autoware::multi_object_tracker { diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp index 6e20d31aad168..123eb30e63d6c 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp @@ -19,8 +19,8 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" -#include "kalman_filter/kalman_filter.hpp" #include #include diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp index 3cca786d9f65b..2632d99047053 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp @@ -19,8 +19,8 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" -#include "kalman_filter/kalman_filter.hpp" #include #include diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp index ad3061285a80c..26799f1916741 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp @@ -19,8 +19,8 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp" -#include "kalman_filter/kalman_filter.hpp" #include #include diff --git a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp index 130053fafd2ed..dff60a82c4c44 100644 --- a/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp +++ b/perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp @@ -19,7 +19,7 @@ #ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ #define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_ -#include "kalman_filter/kalman_filter.hpp" +#include "autoware/kalman_filter/kalman_filter.hpp" #include #include @@ -33,6 +33,7 @@ namespace autoware::multi_object_tracker { +using autoware::kalman_filter::KalmanFilter; class MotionModel { diff --git a/perception/autoware_multi_object_tracker/package.xml b/perception/autoware_multi_object_tracker/package.xml index 3d941239976ea..405ce7eced625 100644 --- a/perception/autoware_multi_object_tracker/package.xml +++ b/perception/autoware_multi_object_tracker/package.xml @@ -13,12 +13,12 @@ autoware_cmake eigen3_cmake_module + autoware_kalman_filter autoware_perception_msgs autoware_universe_utils diagnostic_updater eigen glog - kalman_filter mussp object_recognition_utils rclcpp diff --git a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp index dab4d3f8efa24..6b33552c65891 100644 --- a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp +++ b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp @@ -15,13 +15,14 @@ #ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_ #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp" -#include "kalman_filter/kalman_filter.hpp" #include namespace autoware::radar_object_tracker { using Label = autoware_perception_msgs::msg::ObjectClassification; +using autoware::kalman_filter::KalmanFilter; class ConstantTurnRateMotionTracker : public Tracker // means constant turn rate motion tracker { private: diff --git a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp index 7c96aa8fbaa36..b73e064635974 100644 --- a/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp +++ b/perception/autoware_radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp @@ -15,8 +15,8 @@ #ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_ #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_ +#include "autoware/kalman_filter/kalman_filter.hpp" #include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp" -#include "kalman_filter/kalman_filter.hpp" #include @@ -24,6 +24,8 @@ namespace autoware::radar_object_tracker { using Label = autoware_perception_msgs::msg::ObjectClassification; +using autoware::kalman_filter::KalmanFilter; + class LinearMotionTracker : public Tracker { private: diff --git a/perception/autoware_radar_object_tracker/package.xml b/perception/autoware_radar_object_tracker/package.xml index 50dd70e6cec67..6829c26f797c7 100644 --- a/perception/autoware_radar_object_tracker/package.xml +++ b/perception/autoware_radar_object_tracker/package.xml @@ -13,12 +13,12 @@ autoware_cmake eigen3_cmake_module + autoware_kalman_filter autoware_lanelet2_extension autoware_perception_msgs autoware_universe_utils eigen glog - kalman_filter mussp nlohmann-json-dev object_recognition_utils