refactor(behavior_path_sampling_planner_module): add autoware prefix (#…

…7392) Signed-off-by: Maxime CLEMENT <[email protected]>
autowarefoundation · Jun 11, 2024 · adde8e1 · adde8e1
1 parent afc129e
commit adde8e1
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Showing 14 changed files with 54 additions and 51 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -167,7 +167,7 @@ planning/autoware_velocity_smoother/** [email protected] makoto.kurihara@
 planning/autoware_behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_sampling_planner_module/** [email protected] [email protected]
+planning/autoware_behavior_path_sampling_planner_module/** [email protected] [email protected]
 planning/autoware_behavior_path_side_shift_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_start_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_side_shift_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/...unch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -61,7 +61,7 @@
   />
   <let
     name="behavior_path_planner_launch_modules"
-    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::SamplingPlannerModuleManager, '&quot;)"
+    value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'autoware::behavior_path_planner::SamplingPlannerModuleManager, '&quot;)"
     if="$(var launch_sampling_planner_module)"
   />
   <let

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

diff --git a/...or_path_sampling_planner_module/README.md → ...or_path_sampling_planner_module/README.md b/...or_path_sampling_planner_module/README.md → ...or_path_sampling_planner_module/README.md
diff --git a/...module/config/sampling_planner.param.yaml → ...module/config/sampling_planner.param.yaml b/...module/config/sampling_planner.param.yaml → ...module/config/sampling_planner.param.yaml
diff --git a/..._path_sampling_planner_module/manager.hpp → ..._path_sampling_planner_module/manager.hpp b/..._path_sampling_planner_module/manager.hpp → ..._path_sampling_planner_module/manager.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
-#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
 
 #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
-#include "behavior_path_sampling_planner_module/sampling_planner_module.hpp"
-#include "behavior_path_sampling_planner_module/sampling_planner_parameters.hpp"
+#include "autoware_behavior_path_sampling_planner_module/sampling_planner_module.hpp"
+#include "autoware_behavior_path_sampling_planner_module/sampling_planner_parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -26,9 +26,10 @@
 #include <unordered_map>
 #include <vector>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
-
+using namespace ::behavior_path_planner;  // NOLINT TODO(Maxime): remove once moved to autoware
+                                          // namespace
 class SamplingPlannerModuleManager : public SceneModuleManagerInterface
 {
 public:
@@ -49,6 +50,6 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface
   std::shared_ptr<SamplingPlannerParameters> parameters_;
 };
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
diff --git a/...lanner_module/sampling_planner_module.hpp → ...lanner_module/sampling_planner_module.hpp b/...lanner_module/sampling_planner_module.hpp → ...lanner_module/sampling_planner_module.hpp
@@ -12,15 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
-#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
 
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/marker_utils/utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
+#include "autoware_behavior_path_sampling_planner_module/sampling_planner_parameters.hpp"
+#include "autoware_behavior_path_sampling_planner_module/util.hpp"
 #include "autoware_bezier_sampler/bezier_sampling.hpp"
 #include "autoware_frenet_planner/frenet_planner.hpp"
 #include "autoware_sampler_common/constraints/footprint.hpp"
@@ -29,8 +31,6 @@
 #include "autoware_sampler_common/structures.hpp"
 #include "autoware_sampler_common/transform/spline_transform.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "behavior_path_sampling_planner_module/sampling_planner_parameters.hpp"
-#include "behavior_path_sampling_planner_module/util.hpp"
 #include "lanelet2_extension/utility/query.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
@@ -56,8 +56,11 @@
 #include <unordered_map>
 #include <utility>
 #include <vector>
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
+// NOLINT
+using namespace ::behavior_path_planner;  // NOLINT TODO(Maxime): remove once moved to autoware
+                                          // namespace
 using autoware_planning_msgs::msg::TrajectoryPoint;
 struct SamplingPlannerData
 {
@@ -142,8 +145,8 @@ class SamplingPlannerModule : public SceneModuleInterface
   }
 
   SamplingPlannerDebugData debug_data_;
-  behavior_path_planner::HardConstraintsFunctionVector hard_constraints_;
-  behavior_path_planner::SoftConstraintsFunctionVector soft_constraints_;
+  HardConstraintsFunctionVector hard_constraints_;
+  SoftConstraintsFunctionVector soft_constraints_;
 
 private:
   SamplingPlannerData createPlannerData(
@@ -261,6 +264,6 @@ class SamplingPlannerModule : public SceneModuleInterface
     const std::shared_ptr<const PlannerData> & planner_data) const;
 };
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
diff --git a/...er_module/sampling_planner_parameters.hpp → ...er_module/sampling_planner_parameters.hpp b/...er_module/sampling_planner_parameters.hpp → ...er_module/sampling_planner_parameters.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
-#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
 
 #include "autoware_bezier_sampler/bezier_sampling.hpp"
 #include "autoware_sampler_common/structures.hpp"
 
 #include <vector>
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
 using tier4_autoware_utils::LinearRing2d;
 using tier4_autoware_utils::MultiPoint2d;
@@ -87,5 +87,5 @@ struct SamplingPlannerInternalParameters
   Sampling sampling;
   Preprocessing preprocessing{};
 };
-}  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
+}  // namespace autoware::behavior_path_planner
+#endif  // AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
diff --git a/...ior_path_sampling_planner_module/util.hpp → ...ior_path_sampling_planner_module/util.hpp b/...ior_path_sampling_planner_module/util.hpp → ...ior_path_sampling_planner_module/util.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
-#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
 #include "autoware_sampler_common/structures.hpp"
 #include "autoware_sampler_common/transform/spline_transform.hpp"
 
@@ -26,9 +26,10 @@
 #include <numeric>
 #include <optional>
 #include <vector>
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
-
+using namespace ::behavior_path_planner;  // NOLINT TODO(Maxime): remove once moved to autoware
+                                          // namespace
 using geometry_msgs::msg::Pose;
 
 struct SoftConstraintsInputs
@@ -38,8 +39,8 @@ struct SoftConstraintsInputs
   lanelet::ArcCoordinates ego_arc;
   lanelet::ArcCoordinates goal_arc;
   lanelet::ConstLanelets closest_lanelets_to_goal;
-  behavior_path_planner::PlanResult reference_path;
-  behavior_path_planner::PlanResult prev_module_path;
+  PlanResult reference_path;
+  PlanResult prev_module_path;
   std::optional<autoware::sampler_common::Path> prev_path;
   lanelet::ConstLanelets current_lanes;
 };
@@ -101,6 +102,6 @@ inline autoware::sampler_common::State getInitialState(
   return initial_state;
 }
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
diff --git a/..._path_sampling_planner_module/package.xml → ..._path_sampling_planner_module/package.xml b/..._path_sampling_planner_module/package.xml → ..._path_sampling_planner_module/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>behavior_path_sampling_planner_module</name>
+  <name>autoware_behavior_path_sampling_planner_module</name>
   <version>0.1.0</version>
-  <description>The behavior_path_sampling_planner_module package</description>
+  <description>The autoware_behavior_path_sampling_planner_module package</description>
 
   <maintainer email="[email protected]">Daniel Sanchez</maintainer>
   <maintainer email="[email protected]">Maxime Clement</maintainer>

diff --git a/planning/autoware_behavior_path_sampling_planner_module/plugins.xml b/planning/autoware_behavior_path_sampling_planner_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_path_sampling_planner_module">
+  <class type="autoware::behavior_path_planner::SamplingPlannerModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+</library>
diff --git a/...h_sampling_planner_module/src/manager.cpp → ...h_sampling_planner_module/src/manager.cpp b/...h_sampling_planner_module/src/manager.cpp → ...h_sampling_planner_module/src/manager.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_sampling_planner_module/manager.hpp"
+#include "autoware_behavior_path_sampling_planner_module/manager.hpp"
 
 #include "tier4_autoware_utils/ros/update_param.hpp"
 
@@ -22,7 +22,7 @@
 #include <string>
 #include <vector>
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
 
 void SamplingPlannerModuleManager::init(rclcpp::Node * node)
@@ -134,9 +134,9 @@ void SamplingPlannerModuleManager::updateModuleParams(
   });
 }
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_path_planner::SamplingPlannerModuleManager,
-  behavior_path_planner::SceneModuleManagerInterface)
+  autoware::behavior_path_planner::SamplingPlannerModuleManager,
+  ::behavior_path_planner::SceneModuleManagerInterface)
diff --git a/...er_module/src/sampling_planner_module.cpp → ...er_module/src/sampling_planner_module.cpp b/...er_module/src/sampling_planner_module.cpp → ...er_module/src/sampling_planner_module.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_sampling_planner_module/sampling_planner_module.hpp"
+#include "autoware_behavior_path_sampling_planner_module/sampling_planner_module.hpp"
 
-namespace behavior_path_planner
+namespace autoware::behavior_path_planner
 {
 using geometry_msgs::msg::Point;
 using motion_utils::calcSignedArcLength;
@@ -267,7 +267,7 @@ bool SamplingPlannerModule::isReferencePathSafe() const
   const auto footprint = autoware::sampler_common::constraints::buildFootprintPoints(
     reference_path, internal_params_->constraints);
 
-  behavior_path_planner::HardConstraintsFunctionVector hard_constraints_reference_path;
+  HardConstraintsFunctionVector hard_constraints_reference_path;
   hard_constraints_reference_path.emplace_back(
     [](
       autoware::sampler_common::Path & path,
@@ -415,8 +415,7 @@ BehaviorModuleOutput SamplingPlannerModule::plan()
   autoware::frenet_planner::SamplingParameters sampling_parameters;
 
   const auto & pose = planner_data_->self_odometry->pose.pose;
-  autoware::sampler_common::State initial_state =
-    behavior_path_planner::getInitialState(pose, reference_spline);
+  autoware::sampler_common::State initial_state = getInitialState(pose, reference_spline);
   sampling_parameters =
     prepareSamplingParameters(initial_state, reference_spline, *internal_params_);
 
@@ -546,8 +545,7 @@ BehaviorModuleOutput SamplingPlannerModule::plan()
       const auto reused_path = get_subset(prev_path_frenet, reuse_idx);
 
       geometry_msgs::msg::Pose future_pose = reused_path.poses.back();
-      autoware::sampler_common::State future_state =
-        behavior_path_planner::getInitialState(future_pose, reference_spline);
+      autoware::sampler_common::State future_state = getInitialState(future_pose, reference_spline);
       autoware::frenet_planner::FrenetState frenet_reuse_state;
 
       set_frenet_state(future_state, reference_spline, frenet_reuse_state);
@@ -984,4 +982,4 @@ autoware::frenet_planner::SamplingParameters SamplingPlannerModule::prepareSampl
   return sampling_parameters;
 }
 
-}  // namespace behavior_path_planner
+}  // namespace autoware::behavior_path_planner
diff --git a/planning/behavior_path_sampling_planner_module/plugins.xml b/planning/behavior_path_sampling_planner_module/plugins.xml