refactor: update include paths for radar_object_tracker files

Signed-off-by: Taekjin LEE <[email protected]>

perception/radar_object_tracker/CMakeLists.txt

@@ -43,7 +43,7 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "RadarObjectTrackerNode"
+  PLUGIN "autoware::radar_object_tracker::RadarObjectTrackerNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 

perception/radar_object_tracker/include/autoware/radar_object_tracker/association/data_association.hpp

@@ -35,7 +35,8 @@
 #include <string>
 #include <unordered_map>
 #include <vector>
-
+namespace autoware::radar_object_tracker
+{
 class DataAssociation
 {
 private:
@@ -63,5 +64,5 @@ class DataAssociation
     const std::string & file_name);
   virtual ~DataAssociation() {}
 };
-
+}  // namespace autoware::radar_object_tracker
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/association/solver/gnn_solver_interface.hpp

@@ -18,7 +18,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::radar_object_tracker::gnn_solver
 {
 class GnnSolverInterface
 {
@@ -30,6 +30,6 @@ class GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) = 0;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::radar_object_tracker::gnn_solver
 
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/association/solver/mu_ssp.hpp

@@ -20,7 +20,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::radar_object_tracker::gnn_solver
 {
 class MuSSP : public GnnSolverInterface
 {
@@ -32,6 +32,6 @@ class MuSSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::radar_object_tracker::gnn_solver
 
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/association/solver/ssp.hpp

@@ -20,7 +20,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::radar_object_tracker::gnn_solver
 {
 class SSP : public GnnSolverInterface
 {
@@ -32,6 +32,6 @@ class SSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::radar_object_tracker::gnn_solver
 
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/radar_object_tracker_node.hpp

@@ -49,6 +49,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::radar_object_tracker
+{
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -130,4 +132,6 @@ class RadarObjectTrackerNode : public rclcpp::Node
   inline bool shouldTrackerPublish(const std::shared_ptr<const Tracker> tracker) const;
 };
 
+}  // namespace autoware::radar_object_tracker
+
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__RADAR_OBJECT_TRACKER_NODE_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp

@@ -19,7 +19,8 @@
 #include "kalman_filter/kalman_filter.hpp"
 
 #include <string>
-
+namespace autoware::radar_object_tracker
+{
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 class ConstantTurnRateMotionTracker : public Tracker  // means constant turn rate motion tracker
 {
@@ -107,5 +108,5 @@ class ConstantTurnRateMotionTracker : public Tracker  // means constant turn rat
     autoware_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~ConstantTurnRateMotionTracker() {}
 };
-
+}  // namespace autoware::radar_object_tracker
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/tracker/model/linear_motion_tracker.hpp

@@ -20,6 +20,9 @@
 
 #include <string>
 
+namespace autoware::radar_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 class LinearMotionTracker : public Tracker
 {
@@ -110,5 +113,5 @@ class LinearMotionTracker : public Tracker
     autoware_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~LinearMotionTracker() {}
 };
-
+}  // namespace autoware::radar_object_tracker
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/tracker/model/tracker_base.hpp

@@ -33,6 +33,8 @@
 
 #include <vector>
 
+namespace autoware::radar_object_tracker
+{
 class Tracker
 {
 protected:
@@ -92,5 +94,5 @@ class Tracker
     const rclcpp::Time & time, autoware_perception_msgs::msg::TrackedObject & object) const = 0;
   virtual bool predict(const rclcpp::Time & time) = 0;
 };
-
+}  // namespace autoware::radar_object_tracker
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/utils/radar_object_tracker_utils.hpp

@@ -46,7 +46,7 @@
 #include <string>
 #include <utility>
 
-namespace radar_object_tracker_utils
+namespace autoware::radar_object_tracker::utils
 {
 
 boost::optional<geometry_msgs::msg::Transform> getTransformAnonymous(
@@ -71,6 +71,6 @@ bool hasValidVelocityDirectionToLanelet(
   const autoware_perception_msgs::msg::TrackedObject & object,
   const lanelet::ConstLanelets & lanelets, const double max_lateral_velocity);
 
-}  // namespace radar_object_tracker_utils
+}  // namespace autoware::radar_object_tracker::utils
 
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_

perception/radar_object_tracker/include/autoware/radar_object_tracker/utils/utils.hpp

@@ -33,8 +33,7 @@
 #include <cmath>
 #include <tuple>
 #include <vector>
-
-namespace utils
+namespace autoware::radar_object_tracker::utils
 {
 enum MSG_COV_IDX {
   X_X = 0,
@@ -79,6 +78,6 @@ enum MSG_COV_IDX {
 Eigen::MatrixXd stackMatricesVertically(const std::vector<Eigen::MatrixXd> & matrices);
 Eigen::MatrixXd stackMatricesDiagonally(const std::vector<Eigen::MatrixXd> & matrices);
 
-}  // namespace utils
+}  // namespace autoware::radar_object_tracker::utils
 
 #endif  // AUTOWARE__RADAR_OBJECT_TRACKER__UTILS__UTILS_HPP_

perception/radar_object_tracker/src/association/data_association.cpp

@@ -69,6 +69,8 @@ double getFormedYawAngle(
 }
 }  // namespace
 
+namespace autoware::radar_object_tracker
+{
 DataAssociation::DataAssociation(
   std::vector<int> can_assign_vector, std::vector<double> max_dist_vector,
   std::vector<double> max_area_vector, std::vector<double> min_area_vector,
@@ -292,3 +294,5 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
 
   return score_matrix;
 }
+
+}  // namespace autoware::radar_object_tracker

perception/radar_object_tracker/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp

@@ -24,7 +24,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::radar_object_tracker::gnn_solver
 {
 void MuSSP::maximizeLinearAssignment(
   const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
@@ -38,4 +38,4 @@ void MuSSP::maximizeLinearAssignment(
   // Solve DA by muSSP
   solve_muSSP(cost, direct_assignment, reverse_assignment);
 }
-}  // namespace gnn_solver
+}  // namespace autoware::radar_object_tracker::gnn_solver

perception/radar_object_tracker/src/association/ssp/successive_shortest_path.cpp

@@ -22,7 +22,7 @@
 #include <utility>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::radar_object_tracker::gnn_solver
 {
 struct ResidualEdge
 {
@@ -367,4 +367,4 @@ void SSP::maximizeLinearAssignment(
   }
 #endif
 }
-}  // namespace gnn_solver
+}  // namespace autoware::radar_object_tracker::gnn_solver

perception/radar_object_tracker/src/radar_object_tracker_node.cpp

@@ -22,7 +22,6 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
 
 #include <boost/optional.hpp>
 
@@ -38,6 +37,8 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::radar_object_tracker
+{
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 RadarObjectTrackerNode::RadarObjectTrackerNode(const rclcpp::NodeOptions & node_options)
@@ -141,7 +142,7 @@ void RadarObjectTrackerNode::onMap(const LaneletMapBin::ConstSharedPtr msg)
 void RadarObjectTrackerNode::onMeasurement(
   const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg)
 {
-  const auto self_transform = radar_object_tracker_utils::getTransformAnonymous(
+  const auto self_transform = autoware::radar_object_tracker::utils::getTransformAnonymous(
     tf_buffer_, "base_link", world_frame_id_, input_objects_msg->header.stamp);
   if (!self_transform) {
     return;
@@ -237,7 +238,7 @@ std::shared_ptr<Tracker> RadarObjectTrackerNode::createNewTracker(
 void RadarObjectTrackerNode::onTimer()
 {
   rclcpp::Time current_time = this->now();
-  const auto self_transform = radar_object_tracker_utils::getTransformAnonymous(
+  const auto self_transform = autoware::radar_object_tracker::utils::getTransformAnonymous(
     tf_buffer_, world_frame_id_, "base_link", current_time);
   if (!self_transform) {
     return;
@@ -284,14 +285,14 @@ void RadarObjectTrackerNode::mapBasedNoiseFilter(
   for (auto itr = list_tracker.begin(); itr != list_tracker.end(); ++itr) {
     autoware_perception_msgs::msg::TrackedObject object;
     (*itr)->getTrackedObject(time, object);
-    const auto closest_lanelets = radar_object_tracker_utils::getClosestValidLanelets(
+    const auto closest_lanelets = autoware::radar_object_tracker::utils::getClosestValidLanelets(
       object, lanelet_map_ptr_, max_distance_from_lane_, max_angle_diff_from_lane_);
 
     // 1. If the object is not close to any lanelet, delete the tracker
     const bool no_closest_lanelet = closest_lanelets.empty();
     // 2. If the object velocity direction is not close to the lanelet direction, delete the tracker
     const bool is_velocity_direction_close_to_lanelet =
-      radar_object_tracker_utils::hasValidVelocityDirectionToLanelet(
+      autoware::radar_object_tracker::utils::hasValidVelocityDirectionToLanelet(
         object, closest_lanelets, max_lateral_velocity_);
     if (no_closest_lanelet || !is_velocity_direction_close_to_lanelet) {
       // std::cout << "object removed due to map based noise filter" << " no close lanelet: " <<
@@ -422,5 +423,8 @@ void RadarObjectTrackerNode::publish(const rclcpp::Time & time) const
   // Publish
   tracked_objects_pub_->publish(output_msg);
 }
+}  // namespace autoware::radar_object_tracker
+
+#include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(RadarObjectTrackerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::radar_object_tracker::RadarObjectTrackerNode)

perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp

@@ -42,6 +42,8 @@
 
 #include <yaml-cpp/yaml.h>
 
+namespace autoware::radar_object_tracker
+{
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 // init static member variables
@@ -442,9 +444,9 @@ bool ConstantTurnRateMotionTracker::measureWithPose(
   }
 
   // stacking matrices vertically or diagonally
-  const auto C = utils::stackMatricesVertically(C_list);
-  const auto Y = utils::stackMatricesVertically(Y_list);
-  const auto R = utils::stackMatricesDiagonally(R_block_list);
+  const auto C = autoware::radar_object_tracker::utils::stackMatricesVertically(C_list);
+  const auto Y = autoware::radar_object_tracker::utils::stackMatricesVertically(Y_list);
+  const auto R = autoware::radar_object_tracker::utils::stackMatricesDiagonally(R_block_list);
 
   // 4. EKF update
   if (!ekf_.update(Y, C, R)) {
@@ -622,3 +624,5 @@ bool ConstantTurnRateMotionTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::radar_object_tracker

perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp

@@ -43,6 +43,8 @@
 
 #include <yaml-cpp/yaml.h>
 
+namespace autoware::radar_object_tracker
+{
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 // initialize static parameter
@@ -468,9 +470,9 @@ bool LinearMotionTracker::measureWithPose(
   // Eigen::MatrixXd R = Eigen::MatrixXd::Zero(row_number, row_number);
 
   // stacking matrices vertically or diagonally
-  const auto C = utils::stackMatricesVertically(C_list);
-  const auto Y = utils::stackMatricesVertically(Y_list);
-  const auto R = utils::stackMatricesDiagonally(R_block_list);
+  const auto C = autoware::radar_object_tracker::utils::stackMatricesVertically(C_list);
+  const auto Y = autoware::radar_object_tracker::utils::stackMatricesVertically(Y_list);
+  const auto R = autoware::radar_object_tracker::utils::stackMatricesDiagonally(R_block_list);
 
   // 4. EKF update
   if (!ekf_.update(Y, C, R)) {
@@ -688,3 +690,4 @@ bool LinearMotionTracker::getTrackedObject(
 
   return true;
 }
+}  // namespace autoware::radar_object_tracker

perception/radar_object_tracker/src/tracker/model/tracker_base.cpp

@@ -21,6 +21,8 @@
 #include <algorithm>
 #include <random>
 
+namespace autoware::radar_object_tracker
+{
 Tracker::Tracker(
   const rclcpp::Time & time,
   const std::vector<autoware_perception_msgs::msg::ObjectClassification> & classification)
@@ -61,3 +63,4 @@ geometry_msgs::msg::PoseWithCovariance Tracker::getPoseWithCovariance(
   getTrackedObject(time, object);
   return object.kinematics.pose_with_covariance;
 }
+}  // namespace autoware::radar_object_tracker

perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/radar_object_tracker/utils/radar_object_tracker_utils.hpp"
 
-namespace radar_object_tracker_utils
+namespace autoware::radar_object_tracker::utils
 {
 
 boost::optional<geometry_msgs::msg::Transform> getTransformAnonymous(
@@ -151,4 +151,4 @@ bool hasValidVelocityDirectionToLanelet(
   return false;
 }
 
-}  // namespace radar_object_tracker_utils
+}  // namespace autoware::radar_object_tracker::utils

perception/radar_object_tracker/src/utils/utils.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/radar_object_tracker/utils/utils.hpp"
 
-namespace utils
+namespace autoware::radar_object_tracker::utils
 {
 // concatenate matrices vertically
 Eigen::MatrixXd stackMatricesVertically(const std::vector<Eigen::MatrixXd> & matrices)
@@ -68,4 +68,4 @@ Eigen::MatrixXd stackMatricesDiagonally(const std::vector<Eigen::MatrixXd> & mat
   return result;
 }
 
-}  // namespace utils
+}  // namespace autoware::radar_object_tracker::utils

perception/radar_object_tracker/test/test_radar_object_tracker_utils.cpp

@@ -16,8 +16,8 @@
 
 #include <gtest/gtest.h>
 
+using autoware::radar_object_tracker::utils::checkCloseLaneletCondition;
 using autoware_perception_msgs::msg::TrackedObject;
-using radar_object_tracker_utils::checkCloseLaneletCondition;
 
 // helper function to create a dummy straight lanelet
 lanelet::Lanelet createDummyStraightLanelet(double length, double width)