Ros2 v0.8.0 map based prediction (autowarefoundation#299)

* restore file name for v0.8.0 update Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> * fix typos in perception (autowarefoundation#862) * Revert "restore file name for v0.8.0 update" This reverts commit 47ab860adfd6664193b741c61f976eee86c5267a. * restore the return type of a function Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> * delete commented out line Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
kosuke55 · Feb 2, 2021 · 4ee4707 · 4ee4707
1 parent e6c11ba
commit 4ee4707
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Showing 2 changed files with 13 additions and 14 deletions.
diff --git a/perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction.cpp b/perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction.cpp
@@ -230,10 +230,10 @@ bool MapBasedPrediction::getPredictedPath(
     1 / (2 * std::pow(t, 3));
 
   double target_d_velocity = current_d_velocity;
-  double target_d_accerelation = 0;
+  double target_d_acceleration = 0;
   Eigen::Vector3d b_3;
   b_3 << target_d_position - current_d_position - current_d_velocity * t,
-    target_d_velocity - current_d_velocity, target_d_accerelation;
+    target_d_velocity - current_d_velocity, target_d_acceleration;
 
   Eigen::Vector3d x_3;
   x_3 = a_3_inv * b_3;
@@ -323,6 +323,6 @@ void MapBasedPrediction::getLinearPredictedPath(
 double MapBasedPrediction::calculateLikelihood(const double current_d)
 {
   double d_std = 0.5;
-  double likelyhood = std::abs(current_d) / d_std;
-  return likelyhood;
+  double likelihood = std::abs(current_d) / d_std;
+  return likelihood;
 }
diff --git a/...ption/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp b/...ption/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp
@@ -239,8 +239,8 @@ void MapBasedPredictionROS::objectsCallback(
     return;
   }
 
-  autoware_perception_msgs::msg::DynamicObjectArray tmp_objects_whitout_map;
-  tmp_objects_whitout_map.header = in_objects->header;
+  autoware_perception_msgs::msg::DynamicObjectArray tmp_objects_without_map;
+  tmp_objects_without_map.header = in_objects->header;
   DynamicObjectWithLanesArray prediction_input;
   prediction_input.header = in_objects->header;
 
@@ -258,9 +258,8 @@ void MapBasedPredictionROS::objectsCallback(
     if (
       object.semantic.type != autoware_perception_msgs::msg::Semantic::CAR &&
       object.semantic.type != autoware_perception_msgs::msg::Semantic::BUS &&
-      object.semantic.type != autoware_perception_msgs::msg::Semantic::TRUCK)
-    {
-      tmp_objects_whitout_map.objects.push_back(tmp_object.object);
+      object.semantic.type != autoware_perception_msgs::msg::Semantic::TRUCK) {
+      tmp_objects_without_map.objects.push_back(tmp_object.object);
       continue;
     }
 
@@ -278,7 +277,7 @@ void MapBasedPredictionROS::objectsCallback(
       tf2::doTransform(
         point_orig, debug_point,
         debug_map2lidar_transform);
-      tmp_objects_whitout_map.objects.push_back(object);
+      tmp_objects_without_map.objects.push_back(object);
       continue;
     }
 
@@ -351,7 +350,7 @@ void MapBasedPredictionROS::objectsCallback(
       tf2::doTransform(
         point_orig, debug_point,
         debug_map2lidar_transform);
-      tmp_objects_whitout_map.objects.push_back(object);
+      tmp_objects_without_map.objects.push_back(object);
       continue;
     }
 
@@ -369,8 +368,8 @@ void MapBasedPredictionROS::objectsCallback(
       // add if not yet having lanelet_id
       for (const auto & current_uid : lanelet_ids) {
         bool is_redundant = false;
-        for (const auto & chached_uid : uuid2laneids_.at(uid_string)) {
-          if (chached_uid == current_uid) {
+        for (const auto & cached_uid : uuid2laneids_.at(uid_string)) {
+          if (cached_uid == current_uid) {
             is_redundant = true;
             break;
           }
@@ -426,7 +425,7 @@ void MapBasedPredictionROS::objectsCallback(
   output.objects = out_objects_in_map;
 
   std::vector<autoware_perception_msgs::msg::DynamicObject> out_objects_without_map;
-  map_based_prediction_->doLinearPrediction(tmp_objects_whitout_map, out_objects_without_map);
+  map_based_prediction_->doLinearPrediction(tmp_objects_without_map, out_objects_without_map);
   output.objects.insert(
     output.objects.begin(), out_objects_without_map.begin(), out_objects_without_map.end());
   pub_objects_->publish(output);