refactor(radar_object_tracker)!: fix namespace and directory structure (

autowarefoundation#7658) * chore: refactor radar_object_tracker_node.cpp and related files Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for radar_object_tracker files Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for radar_object_tracker files Signed-off-by: Taekjin LEE <[email protected]> * refactor: remove MSG_COV_IDX enum in utils.hpp Signed-off-by: Taekjin LEE <[email protected]> * refactor: fix the node name Signed-off-by: Taekjin LEE <[email protected]> * refactor: update include paths for radar_object_tracker files Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
mitukou1109 · Jul 2, 2024 · 4120833 · 4120833
1 parent 57e3155
commit 4120833
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Showing 25 changed files with 247 additions and 260 deletions.
diff --git a/perception/radar_object_tracker/CMakeLists.txt b/perception/radar_object_tracker/CMakeLists.txt
@@ -20,47 +20,47 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(radar_object_tracker_utils SHARED
+ament_auto_add_library(${PROJECT_NAME}_utils SHARED
   src/utils/utils.cpp
   src/utils/radar_object_tracker_utils.cpp
 )
 
-ament_auto_add_library(radar_object_tracker_node SHARED
-  src/radar_object_tracker_node/radar_object_tracker_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/radar_object_tracker_node.cpp
   src/tracker/model/tracker_base.cpp
   src/tracker/model/linear_motion_tracker.cpp
   src/tracker/model/constant_turn_rate_motion_tracker.cpp
-  src/data_association/data_association.cpp
-  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
+  src/association/data_association.cpp
+  src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp
 )
 
-target_link_libraries(radar_object_tracker_node
+target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
   yaml-cpp
   nlohmann_json::nlohmann_json # for debug
   glog::glog
-  radar_object_tracker_utils
+  ${PROJECT_NAME}_utils
 )
 
-rclcpp_components_register_node(radar_object_tracker_node
-  PLUGIN "RadarObjectTrackerNode"
-  EXECUTABLE radar_object_tracker
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::radar_object_tracker::RadarObjectTrackerNode"
+  EXECUTABLE radar_object_tracker_node
 )
 
 # testing
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gtest(test_radar_object_tracker_utils
+  ament_add_gtest(test_${PROJECT_NAME}_utils
     test/test_radar_object_tracker_utils.cpp
     src/utils/radar_object_tracker_utils.cpp
   )
-  target_include_directories(test_radar_object_tracker_utils PRIVATE
+  target_include_directories(test_${PROJECT_NAME}_utils PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/include
   )
-  target_link_libraries(test_radar_object_tracker_utils
-    radar_object_tracker_utils
+  target_link_libraries(test_${PROJECT_NAME}_utils
+    ${PROJECT_NAME}_utils
   )
 endif()
 

diff --git a/...ker/data_association/data_association.hpp → ..._tracker/association/data_association.hpp b/...ker/data_association/data_association.hpp → ..._tracker/association/data_association.hpp
@@ -16,25 +16,27 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-
-#include <list>
-#include <memory>
-#include <unordered_map>
-#include <vector>
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
+
+#include "autoware_radar_object_tracker/association/solver/gnn_solver.hpp"
+#include "autoware_radar_object_tracker/tracker/tracker.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "radar_object_tracker/data_association/solver/gnn_solver.hpp"
-#include "radar_object_tracker/tracker/tracker.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 
+#include <list>
+#include <memory>
 #include <string>
+#include <unordered_map>
+#include <vector>
+namespace autoware::radar_object_tracker
+{
 class DataAssociation
 {
 private:
@@ -62,5 +64,5 @@ class DataAssociation
     const std::string & file_name);
   virtual ~DataAssociation() {}
 };
-
-#endif  // RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+}  // namespace autoware::radar_object_tracker
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/...er/data_association/solver/gnn_solver.hpp → ...tracker/association/solver/gnn_solver.hpp b/...er/data_association/solver/gnn_solver.hpp → ...tracker/association/solver/gnn_solver.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "radar_object_tracker/data_association/solver/gnn_solver_interface.hpp"
-#include "radar_object_tracker/data_association/solver/mu_successive_shortest_path.hpp"
-#include "radar_object_tracker/data_association/solver/successive_shortest_path.hpp"
+#include "autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp"
+#include "autoware_radar_object_tracker/association/solver/mu_ssp.hpp"
+#include "autoware_radar_object_tracker/association/solver/ssp.hpp"
 
-#endif  // RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp b/...sociation/solver/gnn_solver_interface.hpp → ...sociation/solver/gnn_solver_interface.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #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  // RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/...on/solver/mu_successive_shortest_path.hpp → ...ect_tracker/association/solver/mu_ssp.hpp b/...on/solver/mu_successive_shortest_path.hpp → ...ect_tracker/association/solver/mu_ssp.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
-#define RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
 
-#include "radar_object_tracker/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp"
 
 #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  // RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/...ation/solver/successive_shortest_path.hpp → ...object_tracker/association/solver/ssp.hpp b/...ation/solver/successive_shortest_path.hpp → ...object_tracker/association/solver/ssp.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
-#define RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
 
-#include "radar_object_tracker/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp"
 
 #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  // RADAR_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/...del/constant_turn_rate_motion_tracker.hpp → ...del/constant_turn_rate_motion_tracker.hpp b/...del/constant_turn_rate_motion_tracker.hpp → ...del/constant_turn_rate_motion_tracker.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
-#define RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
 
-#include "radar_object_tracker/tracker/model/tracker_base.hpp"
-
-#include <kalman_filter/kalman_filter.hpp>
+#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
+#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
 {
@@ -108,5 +108,5 @@ class ConstantTurnRateMotionTracker : public Tracker  // means constant turn rat
     autoware_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~ConstantTurnRateMotionTracker() {}
 };
-
-#endif  // RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
+}  // namespace autoware::radar_object_tracker
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
diff --git a/...r/tracker/model/linear_motion_tracker.hpp → ...r/tracker/model/linear_motion_tracker.hpp b/...r/tracker/model/linear_motion_tracker.hpp → ...r/tracker/model/linear_motion_tracker.hpp
@@ -12,15 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
-#define RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
 
-#include "radar_object_tracker/tracker/model/tracker_base.hpp"
-
-#include <kalman_filter/kalman_filter.hpp>
+#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
+#include "kalman_filter/kalman_filter.hpp"
 
 #include <string>
 
+namespace autoware::radar_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 class LinearMotionTracker : public Tracker
 {
@@ -111,5 +113,5 @@ class LinearMotionTracker : public Tracker
     autoware_perception_msgs::msg::TrackedObject & object) const override;
   virtual ~LinearMotionTracker() {}
 };
-
-#endif  // RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
+}  // namespace autoware::radar_object_tracker
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
diff --git a/...ct_tracker/tracker/model/tracker_base.hpp → ...ct_tracker/tracker/model/tracker_base.hpp b/...ct_tracker/tracker/model/tracker_base.hpp → ...ct_tracker/tracker/model/tracker_base.hpp
@@ -16,12 +16,12 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
-#define RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
 
 #define EIGEN_MPL2_ONLY
+#include "autoware_radar_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "radar_object_tracker/utils/utils.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.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;
 };
-
-#endif  // RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+}  // namespace autoware::radar_object_tracker
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
diff --git a/.../radar_object_tracker/tracker/tracker.hpp → ..._radar_object_tracker/tracker/tracker.hpp b/.../radar_object_tracker/tracker/tracker.hpp → ..._radar_object_tracker/tracker/tracker.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
-#define RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
 
 #include "model/constant_turn_rate_motion_tracker.hpp"
 #include "model/linear_motion_tracker.hpp"
 #include "model/tracker_base.hpp"
 
-#endif  // RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
diff --git a/...cker/utils/radar_object_tracker_utils.hpp → ...cker/utils/radar_object_tracker_utils.hpp b/...cker/utils/radar_object_tracker_utils.hpp → ...cker/utils/radar_object_tracker_utils.hpp
@@ -12,12 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
-#define RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+#define AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <rclcpp/rclcpp.hpp>
 
+#include "autoware_perception_msgs/msg/tracked_object.hpp"
 #include <geometry_msgs/msg/transform.hpp>
 
 #include <boost/optional.hpp>
@@ -33,21 +38,15 @@
 #else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
-
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/math/unit_conversion.hpp>
-#include <rclcpp/rclcpp.hpp>
-
-#include <autoware_perception_msgs/msg/tracked_object.hpp>
-
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 
 #include <string>
 #include <utility>
-namespace radar_object_tracker_utils
+
+namespace autoware::radar_object_tracker::utils
 {
 
 boost::optional<geometry_msgs::msg::Transform> getTransformAnonymous(
@@ -72,6 +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  // RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_