chore: refactoring

Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Jun 11, 2024 · d0c5f0e · d0c5f0e
1 parent 1e05e5d
commit d0c5f0e
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Showing 6 changed files with 9 additions and 10 deletions.
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -206,7 +206,7 @@ void MultiObjectTracker::onTrigger()
 {
   const rclcpp::Time current_time = this->now();
   // get objects from the input manager and run process
-  std::vector<std::pair<uint, DetectedObjects>> objects_list;
+  ObjectsList objects_list;
   const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list);
   if (!is_objects_ready) return;
 

diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -191,7 +191,7 @@ autoware_perception_msgs::msg::DetectedObject BigVehicleTracker::getUpdatingObje
 
   // OBJECT SHAPE MODEL
   // convert to bounding box if input is convex shape
-  autoware_perception_msgs::msg::DetectedObject bbox_object;
+  autoware_perception_msgs::msg::DetectedObject bbox_object = object;
   if (object.shape.type != autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
     if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) {
       RCLCPP_WARN(
@@ -216,8 +216,8 @@ autoware_perception_msgs::msg::DetectedObject BigVehicleTracker::getUpdatingObje
   // UNCERTAINTY MODEL
   if (!object.kinematics.has_position_covariance) {
     // measurement noise covariance
-    float r_cov_x = static_cast<float>(ekf_params_.r_cov_x);
-    float r_cov_y = static_cast<float>(ekf_params_.r_cov_y);
+    auto r_cov_x = static_cast<float>(ekf_params_.r_cov_x);
+    auto r_cov_y = static_cast<float>(ekf_params_.r_cov_y);
     const uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification);
     if (label == autoware_perception_msgs::msg::ObjectClassification::CAR) {
       // if label is changed, enlarge the measurement noise covariance

diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -217,8 +217,8 @@ autoware_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpdatingO
   // UNCERTAINTY MODEL
   if (!object.kinematics.has_position_covariance) {
     // measurement noise covariance
-    float r_cov_x = static_cast<float>(ekf_params_.r_cov_x);
-    float r_cov_y = static_cast<float>(ekf_params_.r_cov_y);
+    auto r_cov_x = static_cast<float>(ekf_params_.r_cov_x);
+    auto r_cov_y = static_cast<float>(ekf_params_.r_cov_y);
     const uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification);
     if (utils::isLargeVehicleLabel(label)) {
       // if label is changed, enlarge the measurement noise covariance

diff --git a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
@@ -34,8 +34,7 @@
 // CTRV : Constant Turn Rate and constant Velocity
 using tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
 
-BicycleMotionModel::BicycleMotionModel()
-: MotionModel(), logger_(rclcpp::get_logger("BicycleMotionModel"))
+BicycleMotionModel::BicycleMotionModel() : logger_(rclcpp::get_logger("BicycleMotionModel"))
 {
   // Initialize motion parameters
   setDefaultParams();

diff --git a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp
@@ -33,7 +33,7 @@
 // Constant Turn Rate and constant Velocity (CTRV) motion model
 using tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
 
-CTRVMotionModel::CTRVMotionModel() : MotionModel(), logger_(rclcpp::get_logger("CTRVMotionModel"))
+CTRVMotionModel::CTRVMotionModel() : logger_(rclcpp::get_logger("CTRVMotionModel"))
 {
   // Initialize motion parameters
   setDefaultParams();

diff --git a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp
@@ -35,7 +35,7 @@
 // Constant Velocity (CV) motion model
 using tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
 
-CVMotionModel::CVMotionModel() : MotionModel(), logger_(rclcpp::get_logger("CVMotionModel"))
+CVMotionModel::CVMotionModel() : logger_(rclcpp::get_logger("CVMotionModel"))
 {
   // Initialize motion parameters
   setDefaultParams();