From ce0fcf5608757fbb4429a20258e7523e4992f8ff Mon Sep 17 00:00:00 2001 From: Zhe Shen <80969277+HansOersted@users.noreply.github.com> Date: Fri, 7 Jun 2024 15:30:16 +0900 Subject: [PATCH] refactor(mpc_lateral_controller, trajectory_follower_node)!: prefix package and namespace with autoware (#7306) * add the prefix to the folder Signed-off-by: Zhe Shen * named to autoware_mpc_lateral_controller Signed-off-by: Zhe Shen * rename the folder in the include Signed-off-by: Zhe Shen * correct the package name in xml and CMakeLists Signed-off-by: Zhe Shen * correct the namespace and include Signed-off-by: Zhe Shen * change namespace and include in src/ Signed-off-by: Zhe Shen * change namespace and include in test/ Signed-off-by: Zhe Shen * fix the trajectory_follower_node Signed-off-by: Zhe Shen * undo rename to the namespace Signed-off-by: Zhe Shen * change the trajectory_follower_node, Controller.drawio.svg, and README.md Signed-off-by: Zhe Shen * fixed by pre-commit Signed-off-by: Zhe Shen * suppress the unnecessary line length detect Signed-off-by: Zhe Shen --------- Signed-off-by: Zhe Shen --- .../CMakeLists.txt | 2 +- .../README.md | 0 .../image/vehicle_error_kinematics.png | Bin .../image/vehicle_kinematics.png | Bin .../lowpass_filter.hpp | 6 +++--- .../autoware_mpc_lateral_controller}/mpc.hpp | 18 +++++++++--------- .../mpc_lateral_controller.hpp | 14 +++++++------- .../mpc_trajectory.hpp | 6 +++--- .../mpc_utils.hpp | 8 ++++---- .../qp_solver/qp_solver_interface.hpp | 6 +++--- .../qp_solver/qp_solver_osqp.hpp | 8 ++++---- .../qp_solver/qp_solver_unconstraint_fast.hpp | 8 ++++---- .../steering_offset/steering_offset.hpp | 6 +++--- .../steering_predictor.hpp | 6 +++--- .../vehicle_model_bicycle_dynamics.hpp | 8 ++++---- .../vehicle_model_bicycle_kinematics.hpp | 8 ++++---- ...icle_model_bicycle_kinematics_no_delay.hpp | 10 ++++++---- .../vehicle_model/vehicle_model_interface.hpp | 8 ++++---- .../model_predictive_control_algorithm.md | 0 .../package.xml | 2 +- .../lateral_controller_defaults.param.yaml | 0 .../src/lowpass_filter.cpp | 2 +- .../src/mpc.cpp | 4 ++-- .../src/mpc_lateral_controller.cpp | 12 ++++++------ .../src/mpc_trajectory.cpp | 2 +- .../src/mpc_utils.cpp | 2 +- .../src/qp_solver/qp_solver_osqp.cpp | 2 +- .../qp_solver/qp_solver_unconstraint_fast.cpp | 2 +- .../src/steering_offset/steering_offset.cpp | 2 +- .../src/steering_predictor.cpp | 2 +- .../vehicle_model_bicycle_dynamics.cpp | 2 +- .../vehicle_model_bicycle_kinematics.cpp | 2 +- ...icle_model_bicycle_kinematics_no_delay.cpp | 2 +- .../vehicle_model/vehicle_model_interface.cpp | 2 +- .../test/test_lowpass_filter.cpp | 2 +- .../test/test_mpc.cpp | 12 ++++++------ .../test/test_mpc_utils.cpp | 4 ++-- control/trajectory_follower_node/README.md | 2 +- .../design/media/Controller.drawio.svg | 2 +- control/trajectory_follower_node/package.xml | 2 +- .../src/controller_node.cpp | 2 +- .../test/test_controller_node.cpp | 2 +- 42 files changed, 96 insertions(+), 94 deletions(-) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/CMakeLists.txt (96%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/README.md (100%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/image/vehicle_error_kinematics.png (100%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/image/vehicle_kinematics.png (100%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/lowpass_filter.hpp (95%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/mpc.hpp (97%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/mpc_lateral_controller.hpp (95%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/mpc_trajectory.hpp (95%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/mpc_utils.hpp (97%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/qp_solver/qp_solver_interface.hpp (89%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/qp_solver/qp_solver_osqp.hpp (88%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/qp_solver/qp_solver_unconstraint_fast.hpp (87%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/steering_offset/steering_offset.hpp (84%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/steering_predictor.hpp (92%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/vehicle_model/vehicle_model_bicycle_dynamics.hpp (92%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/vehicle_model/vehicle_model_bicycle_kinematics.hpp (90%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp (87%) rename control/{mpc_lateral_controller/include/mpc_lateral_controller => autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller}/vehicle_model/vehicle_model_interface.hpp (93%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/model_predictive_control_algorithm.md (100%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/package.xml (97%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/param/lateral_controller_defaults.param.yaml (100%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/lowpass_filter.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/mpc.cpp (99%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/mpc_lateral_controller.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/mpc_trajectory.cpp (97%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/mpc_utils.cpp (99%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/qp_solver/qp_solver_osqp.cpp (97%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/qp_solver/qp_solver_unconstraint_fast.cpp (93%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/steering_offset/steering_offset.cpp (95%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/steering_predictor.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/src/vehicle_model/vehicle_model_interface.cpp (94%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/test/test_lowpass_filter.cpp (98%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/test/test_mpc.cpp (97%) rename control/{mpc_lateral_controller => autoware_mpc_lateral_controller}/test/test_mpc_utils.cpp (95%) diff --git a/control/mpc_lateral_controller/CMakeLists.txt b/control/autoware_mpc_lateral_controller/CMakeLists.txt similarity index 96% rename from control/mpc_lateral_controller/CMakeLists.txt rename to control/autoware_mpc_lateral_controller/CMakeLists.txt index e4a3683ea1fdc..dff85d70419a1 100644 --- a/control/mpc_lateral_controller/CMakeLists.txt +++ b/control/autoware_mpc_lateral_controller/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(mpc_lateral_controller) +project(autoware_mpc_lateral_controller) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/control/mpc_lateral_controller/README.md b/control/autoware_mpc_lateral_controller/README.md similarity index 100% rename from control/mpc_lateral_controller/README.md rename to control/autoware_mpc_lateral_controller/README.md diff --git a/control/mpc_lateral_controller/image/vehicle_error_kinematics.png b/control/autoware_mpc_lateral_controller/image/vehicle_error_kinematics.png similarity index 100% rename from control/mpc_lateral_controller/image/vehicle_error_kinematics.png rename to control/autoware_mpc_lateral_controller/image/vehicle_error_kinematics.png diff --git a/control/mpc_lateral_controller/image/vehicle_kinematics.png b/control/autoware_mpc_lateral_controller/image/vehicle_kinematics.png similarity index 100% rename from control/mpc_lateral_controller/image/vehicle_kinematics.png rename to control/autoware_mpc_lateral_controller/image/vehicle_kinematics.png diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/lowpass_filter.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/lowpass_filter.hpp similarity index 95% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/lowpass_filter.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/lowpass_filter.hpp index 227bd0594312b..73cef7cddda39 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/lowpass_filter.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/lowpass_filter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_ -#define MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_ #include #include @@ -102,4 +102,4 @@ namespace MoveAverageFilter bool filt_vector(const int num, std::vector & u); } // namespace MoveAverageFilter } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc.hpp similarity index 97% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc.hpp index 91b803dea36fa..03abae66e4986 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc.hpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__MPC_HPP_ -#define MPC_LATERAL_CONTROLLER__MPC_HPP_ - -#include "mpc_lateral_controller/lowpass_filter.hpp" -#include "mpc_lateral_controller/mpc_trajectory.hpp" -#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" -#include "mpc_lateral_controller/steering_predictor.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_ + +#include "autoware_mpc_lateral_controller/lowpass_filter.hpp" +#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" +#include "autoware_mpc_lateral_controller/steering_predictor.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" #include "rclcpp/rclcpp.hpp" #include "autoware_control_msgs/msg/lateral.hpp" @@ -525,4 +525,4 @@ class MPC }; // class MPC } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__MPC_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp similarity index 95% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp index eb1d75f9508b3..e0775e1d09def 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_lateral_controller.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_ -#define MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_ -#include "mpc_lateral_controller/mpc.hpp" -#include "mpc_lateral_controller/mpc_trajectory.hpp" -#include "mpc_lateral_controller/mpc_utils.hpp" -#include "mpc_lateral_controller/steering_offset/steering_offset.hpp" +#include "autoware_mpc_lateral_controller/mpc.hpp" +#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp" +#include "autoware_mpc_lateral_controller/mpc_utils.hpp" +#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp" #include "rclcpp/rclcpp.hpp" #include "trajectory_follower_base/lateral_controller_base.hpp" @@ -281,4 +281,4 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_trajectory.hpp similarity index 95% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_trajectory.hpp index eb624f39ae76b..4a0ae16bc9b1c 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_trajectory.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_ -#define MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_ #include "tier4_autoware_utils/geometry/geometry.hpp" @@ -125,4 +125,4 @@ class MPCTrajectory } }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_utils.hpp similarity index 97% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_utils.hpp index 819d7fb89b8a7..e97a004438e4b 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/mpc_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ -#define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ #include "rclcpp/rclcpp.hpp" #include "tf2/utils.h" @@ -26,7 +26,7 @@ #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #endif -#include "mpc_lateral_controller/mpc_trajectory.hpp" +#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" @@ -230,4 +230,4 @@ void update_param( } // namespace MPCUtils } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp similarity index 89% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp index ca30bd30e4dd1..6447437d6c274 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ -#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ #include @@ -51,4 +51,4 @@ class QPSolverInterface virtual double getObjVal() const { return 0.0; } }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp similarity index 88% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp index 2611f94da324f..8c81092960097 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ -#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ -#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" #include "osqp_interface/osqp_interface.hpp" #include "rclcpp/rclcpp.hpp" @@ -62,4 +62,4 @@ class QPSolverOSQP : public QPSolverInterface rclcpp::Logger logger_; }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp similarity index 87% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp index ef337eaaa8528..15c8137b78890 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_ -#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_ -#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp" namespace autoware::motion::control::mpc_lateral_controller { @@ -62,4 +62,4 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface private: }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp similarity index 84% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp index 494961ef679d2..707c1ce56a9a6 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_offset/steering_offset.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_ -#define MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_ #include @@ -45,4 +45,4 @@ class SteeringOffsetEstimator double steering_offset_ = 0.0; }; -#endif // MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_predictor.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_predictor.hpp similarity index 92% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/steering_predictor.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_predictor.hpp index 16e9b165fb1a5..0c5f04497d058 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/steering_predictor.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/steering_predictor.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_ -#define MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_ #include "rclcpp/rclcpp.hpp" @@ -81,4 +81,4 @@ class SteeringPredictor } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp similarity index 92% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp index 488a3c7ab8be2..20787b1f281b5 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp @@ -44,10 +44,10 @@ * Tracking", Robotics Institute, Carnegie Mellon University, February 2009. */ -#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ -#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ -#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" #include #include @@ -122,4 +122,4 @@ class DynamicsBicycleModel : public VehicleModelInterface double m_cr; //!< @brief rear cornering power [N/rad] }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp similarity index 90% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp index e2f66e95ab0e3..91d3ea826c7d3 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp @@ -38,10 +38,10 @@ * */ -#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ -#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ -#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" #include #include @@ -106,4 +106,4 @@ class KinematicsBicycleModel : public VehicleModelInterface double m_steer_tau; //!< @brief steering time constant for 1d-model [s] }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_ diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp similarity index 87% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp index b503ad8eb1d13..5731a2025d833 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp @@ -35,10 +35,10 @@ * */ -#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ -#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ // NOLINT +#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ // NOLINT -#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" #include #include @@ -101,4 +101,6 @@ class KinematicsBicycleModelNoDelay : public VehicleModelInterface double m_steer_lim; //!< @brief steering angle limit [rad] }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ +// clang-format off +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_ // NOLINT +// clang-format on diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp similarity index 93% rename from control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp rename to control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp index 68806ff5a00dc..9e2d14184d5e7 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ -#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ +#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ +#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ -#include "mpc_lateral_controller/mpc_trajectory.hpp" +#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp" #include @@ -149,4 +149,4 @@ class VehicleModelInterface const MPCTrajectory & reference_trajectory, const double dt) const = 0; }; } // namespace autoware::motion::control::mpc_lateral_controller -#endif // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ +#endif // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_ diff --git a/control/mpc_lateral_controller/model_predictive_control_algorithm.md b/control/autoware_mpc_lateral_controller/model_predictive_control_algorithm.md similarity index 100% rename from control/mpc_lateral_controller/model_predictive_control_algorithm.md rename to control/autoware_mpc_lateral_controller/model_predictive_control_algorithm.md diff --git a/control/mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml similarity index 97% rename from control/mpc_lateral_controller/package.xml rename to control/autoware_mpc_lateral_controller/package.xml index 000bddc65aa1f..3e62d69f6ebb6 100644 --- a/control/mpc_lateral_controller/package.xml +++ b/control/autoware_mpc_lateral_controller/package.xml @@ -1,7 +1,7 @@ - mpc_lateral_controller + autoware_mpc_lateral_controller 1.0.0 MPC-based lateral controller diff --git a/control/mpc_lateral_controller/param/lateral_controller_defaults.param.yaml b/control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml similarity index 100% rename from control/mpc_lateral_controller/param/lateral_controller_defaults.param.yaml rename to control/autoware_mpc_lateral_controller/param/lateral_controller_defaults.param.yaml diff --git a/control/mpc_lateral_controller/src/lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp similarity index 98% rename from control/mpc_lateral_controller/src/lowpass_filter.cpp rename to control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp index 8fbf3488c5a2e..e3bbe78e2428b 100644 --- a/control/mpc_lateral_controller/src/lowpass_filter.cpp +++ b/control/autoware_mpc_lateral_controller/src/lowpass_filter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/lowpass_filter.hpp" +#include "autoware_mpc_lateral_controller/lowpass_filter.hpp" #include diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp similarity index 99% rename from control/mpc_lateral_controller/src/mpc.cpp rename to control/autoware_mpc_lateral_controller/src/mpc.cpp index 177c1e0854bfb..e6fa2ce3c0102 100644 --- a/control/mpc_lateral_controller/src/mpc.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/mpc.hpp" +#include "autoware_mpc_lateral_controller/mpc.hpp" +#include "autoware_mpc_lateral_controller/mpc_utils.hpp" #include "interpolation/linear_interpolation.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include "mpc_lateral_controller/mpc_utils.hpp" #include "rclcpp/rclcpp.hpp" #include "tier4_autoware_utils/math/unit_conversion.hpp" diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp similarity index 98% rename from control/mpc_lateral_controller/src/mpc_lateral_controller.cpp rename to control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp index 85d33a5e9f1c0..3d66078eed1f2 100644 --- a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/mpc_lateral_controller.hpp" +#include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp" -#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp" #include "tf2/utils.h" #include "tf2_ros/create_timer_ros.h" #include "vehicle_info_util/vehicle_info_util.hpp" diff --git a/control/mpc_lateral_controller/src/mpc_trajectory.cpp b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp similarity index 97% rename from control/mpc_lateral_controller/src/mpc_trajectory.cpp rename to control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp index b7fed942375e8..e84e6cf79a25a 100644 --- a/control/mpc_lateral_controller/src/mpc_trajectory.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_trajectory.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/mpc_trajectory.hpp" +#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp" namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp similarity index 99% rename from control/mpc_lateral_controller/src/mpc_utils.cpp rename to control/autoware_mpc_lateral_controller/src/mpc_utils.cpp index 01a81d9015b47..1a0062372eb22 100644 --- a/control/mpc_lateral_controller/src/mpc_utils.cpp +++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/mpc_utils.hpp" +#include "autoware_mpc_lateral_controller/mpc_utils.hpp" #include "interpolation/linear_interpolation.hpp" #include "interpolation/spline_interpolation.hpp" diff --git a/control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp similarity index 97% rename from control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp rename to control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp index 7c76d67e75aa3..66981b0c5c6d4 100644 --- a/control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp +++ b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp" #include #include diff --git a/control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp similarity index 93% rename from control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp rename to control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp index b0357138cd646..315e29d063aad 100644 --- a/control/mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp +++ b/control/autoware_mpc_lateral_controller/src/qp_solver/qp_solver_unconstraint_fast.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp" #include diff --git a/control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp b/control/autoware_mpc_lateral_controller/src/steering_offset/steering_offset.cpp similarity index 95% rename from control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp rename to control/autoware_mpc_lateral_controller/src/steering_offset/steering_offset.cpp index 60d4dd7901394..6425d5da5e941 100644 --- a/control/mpc_lateral_controller/src/steering_offset/steering_offset.cpp +++ b/control/autoware_mpc_lateral_controller/src/steering_offset/steering_offset.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/steering_offset/steering_offset.hpp" +#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp" #include #include diff --git a/control/mpc_lateral_controller/src/steering_predictor.cpp b/control/autoware_mpc_lateral_controller/src/steering_predictor.cpp similarity index 98% rename from control/mpc_lateral_controller/src/steering_predictor.cpp rename to control/autoware_mpc_lateral_controller/src/steering_predictor.cpp index 48d8fa8c47a97..759a36a16de62 100644 --- a/control/mpc_lateral_controller/src/steering_predictor.cpp +++ b/control/autoware_mpc_lateral_controller/src/steering_predictor.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/steering_predictor.hpp" +#include "autoware_mpc_lateral_controller/steering_predictor.hpp" namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp similarity index 98% rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp index 2467b1f0c2311..d5272c48fcbdf 100644 --- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp +++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_dynamics.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp" #include diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp similarity index 98% rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp index cd52dd4f79314..97bcafb161cb0 100644 --- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp +++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp" #include diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp similarity index 98% rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp index 8f4510510aca9..d2857d8b42182 100644 --- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp +++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp" #include diff --git a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp similarity index 94% rename from control/mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp rename to control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp index f54a5e325bead..e1b17d3d96278 100644 --- a/control/mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp +++ b/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_interface.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp" namespace autoware::motion::control::mpc_lateral_controller { diff --git a/control/mpc_lateral_controller/test/test_lowpass_filter.cpp b/control/autoware_mpc_lateral_controller/test/test_lowpass_filter.cpp similarity index 98% rename from control/mpc_lateral_controller/test/test_lowpass_filter.cpp rename to control/autoware_mpc_lateral_controller/test/test_lowpass_filter.cpp index c68513586847b..bfb695cdeee8a 100644 --- a/control/mpc_lateral_controller/test/test_lowpass_filter.cpp +++ b/control/autoware_mpc_lateral_controller/test/test_lowpass_filter.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware_mpc_lateral_controller/lowpass_filter.hpp" #include "gtest/gtest.h" -#include "mpc_lateral_controller/lowpass_filter.hpp" #include diff --git a/control/mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp similarity index 97% rename from control/mpc_lateral_controller/test/test_mpc.cpp rename to control/autoware_mpc_lateral_controller/test/test_mpc.cpp index 7644fb28b0788..3fd4b010852c0 100644 --- a/control/mpc_lateral_controller/test/test_mpc.cpp +++ b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware_mpc_lateral_controller/mpc.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp" +#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp" +#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp" #include "gtest/gtest.h" -#include "mpc_lateral_controller/mpc.hpp" -#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp" -#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp" -#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp" #include "rclcpp/rclcpp.hpp" #include "autoware_control_msgs/msg/lateral.hpp" diff --git a/control/mpc_lateral_controller/test/test_mpc_utils.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc_utils.cpp similarity index 95% rename from control/mpc_lateral_controller/test/test_mpc_utils.cpp rename to control/autoware_mpc_lateral_controller/test/test_mpc_utils.cpp index 51cc7d55e4560..b55435dffd024 100644 --- a/control/mpc_lateral_controller/test/test_mpc_utils.cpp +++ b/control/autoware_mpc_lateral_controller/test/test_mpc_utils.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp" +#include "autoware_mpc_lateral_controller/mpc_utils.hpp" #include "gtest/gtest.h" -#include "mpc_lateral_controller/mpc_trajectory.hpp" -#include "mpc_lateral_controller/mpc_utils.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_planning_msgs/msg/trajectory_point.hpp" diff --git a/control/trajectory_follower_node/README.md b/control/trajectory_follower_node/README.md index 3496284efd670..7b9e93e39fad9 100644 --- a/control/trajectory_follower_node/README.md +++ b/control/trajectory_follower_node/README.md @@ -45,7 +45,7 @@ struct LateralSyncData { } } -package mpc_lateral_controller { +package autoware_mpc_lateral_controller { class MPCLateralController { isReady(InputData) override run(InputData) override diff --git a/control/trajectory_follower_node/design/media/Controller.drawio.svg b/control/trajectory_follower_node/design/media/Controller.drawio.svg index 1152ef2b17f59..db4961922bd10 100644 --- a/control/trajectory_follower_node/design/media/Controller.drawio.svg +++ b/control/trajectory_follower_node/design/media/Controller.drawio.svg @@ -140,7 +140,7 @@
trajectory_follower/
- mpc_lateral_controller + autoware_mpc_lateral_controller
diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml index 65446dfb3dd01..b7dd546eb4bca 100644 --- a/control/trajectory_follower_node/package.xml +++ b/control/trajectory_follower_node/package.xml @@ -21,10 +21,10 @@ autoware_adapi_v1_msgs autoware_control_msgs + autoware_mpc_lateral_controller autoware_planning_msgs autoware_vehicle_msgs motion_utils - mpc_lateral_controller pid_longitudinal_controller pure_pursuit rclcpp diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp index 6fe63ca07de6f..f431be6612009 100644 --- a/control/trajectory_follower_node/src/controller_node.cpp +++ b/control/trajectory_follower_node/src/controller_node.cpp @@ -14,7 +14,7 @@ #include "trajectory_follower_node/controller_node.hpp" -#include "mpc_lateral_controller/mpc_lateral_controller.hpp" +#include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp" #include "pid_longitudinal_controller/pid_longitudinal_controller.hpp" #include "pure_pursuit/pure_pursuit_lateral_controller.hpp" #include "tier4_autoware_utils/ros/marker_helper.hpp" diff --git a/control/trajectory_follower_node/test/test_controller_node.cpp b/control/trajectory_follower_node/test/test_controller_node.cpp index 9bdf625226134..3bf47233f1f3f 100644 --- a/control/trajectory_follower_node/test/test_controller_node.cpp +++ b/control/trajectory_follower_node/test/test_controller_node.cpp @@ -53,7 +53,7 @@ rclcpp::NodeOptions makeNodeOptions(const bool enable_keep_stopped_until_steer_c const auto longitudinal_share_dir = ament_index_cpp::get_package_share_directory("pid_longitudinal_controller"); const auto lateral_share_dir = - ament_index_cpp::get_package_share_directory("mpc_lateral_controller"); + ament_index_cpp::get_package_share_directory("autoware_mpc_lateral_controller"); rclcpp::NodeOptions node_options; node_options.append_parameter_override("lateral_controller_mode", "mpc"); node_options.append_parameter_override("longitudinal_controller_mode", "pid");