From c4557b2aacfc4d7517c1b8ea36b208dbd2567373 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 3 Mar 2023 09:55:18 +0900 Subject: [PATCH] chore(typo): eliminate typos (#2216) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Replace 'asssert' with 'assert' Signed-off-by: Kotaro Yoshimoto * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto * fix(typo): collinearity => collinearity Signed-off-by: Kotaro Yoshimoto * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto * fix(typo): numbef => number Signed-off-by: Kotaro Yoshimoto * fix(typo): missmatched => mismatched Signed-off-by: Kotaro Yoshimoto * fix(typo): minimun => minimum Signed-off-by: Kotaro Yoshimoto * fix(typo): neighbore => neighbor Signed-off-by: Kotaro Yoshimoto * fix(typo): neighbour => neighbor Signed-off-by: Kotaro Yoshimoto * fix(typo): propery => properly Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * fix(typo): reagion => region Signed-off-by: Kotaro Yoshimoto * fix(typo): shirinking => shrinking Signed-off-by: Kotaro Yoshimoto * fix(typo): turining => turning Signed-off-by: Kotaro Yoshimoto * fix(typo): lexas => lexus Signed-off-by: Kotaro Yoshimoto * fix(typo): fastetst => fastest Signed-off-by: Kotaro Yoshimoto * fix(typo): analyse => analyze Signed-off-by: Kotaro Yoshimoto * fix(typo): ordinaray => ordinary Signed-off-by: Kotaro Yoshimoto * fix(typo): existance => existence Signed-off-by: Kotaro Yoshimoto * fix(typo): insert missing space Signed-off-by: Kotaro Yoshimoto * fix(typo): modify url including typo in original url Signed-off-by: Kotaro Yoshimoto * fix(typo): precompined => precomputed Signed-off-by: Kotaro Yoshimoto * fix(typo): magitude => magnitude Signed-off-by: Kotaro Yoshimoto * fix(typo): exernal => external Signed-off-by: Kotaro Yoshimoto * fix(typo): undderlying => underlying Signed-off-by: Kotaro Yoshimoto * fix(typo): expicitly => explicitly Signed-off-by: Kotaro Yoshimoto * fix(typo): paremterized => parameterized Signed-off-by: Kotaro Yoshimoto * fix(typo): thier => their Signed-off-by: Kotaro Yoshimoto * fix(typo): simualtor => simulator Signed-off-by: Kotaro Yoshimoto * fix(typo): modifiy => modify Signed-off-by: Kotaro Yoshimoto * fix(typo): neccessary => necessary Signed-off-by: Kotaro Yoshimoto * fix(typo): travelled => traveled Signed-off-by: Kotaro Yoshimoto * fix(typo): heursitic => heuristic Signed-off-by: Kotaro Yoshimoto * fix(typo): chagne => change Signed-off-by: Kotaro Yoshimoto * fix(typo): waypints => waypoints Signed-off-by: Kotaro Yoshimoto * fix(typo): unknwon => unknown Signed-off-by: Kotaro Yoshimoto * fix(typo): true => true Signed-off-by: Kotaro Yoshimoto * fix(typo): approximiate => approximate Signed-off-by: Kotaro Yoshimoto * fix(typo): analitically => analytically Signed-off-by: Kotaro Yoshimoto * fix(typo): modify url including typo in original url Signed-off-by: Kotaro Yoshimoto * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto * fix(typo): neighbour => neighbor Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * fix(typo): modify url including typo in original url Signed-off-by: Kotaro Yoshimoto * fix(typo): kiro => kilo Signed-off-by: Kotaro Yoshimoto * fix(typo): flowchar => flowchart Signed-off-by: Kotaro Yoshimoto * fix(typo): projecton => projection Signed-off-by: Kotaro Yoshimoto * fix(cspell): divide variable name with space to fix cspell error Signed-off-by: Kotaro Yoshimoto * fix(typo): yawrate => yaw rate Signed-off-by: Kotaro Yoshimoto * fix(typo): timelag => time_lag Signed-off-by: Kotaro Yoshimoto * fix(cspell): divide variable name with space to fix cspell error Signed-off-by: Kotaro Yoshimoto * fix(typo): retrive => retrieve Signed-off-by: Kotaro Yoshimoto * fix(typo): posemsg => pose msg Signed-off-by: Kotaro Yoshimoto * fix(cspell): replace northup with east_north_up Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * fix(cspell): ignore person names Signed-off-by: Kotaro Yoshimoto * fix(cspell): ignore cspell error due to the source from OpenCV Signed-off-by: Kotaro Yoshimoto * fix(cspell): ignore cspell error due to the source from OpenCV Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * chore(spell-check): ignore minx, maxx, miny, maxy, minz, maxz from autoware parameter names Signed-off-by: Kotaro Yoshimoto * chore(spell-check): Ignore cspell errors caused by external factor(plotjuggler) Signed-off-by: Kotaro Yoshimoto * fix(typo): dereferencable => dereferenceable Signed-off-by: Kotaro Yoshimoto * fix(typo): maxs => maxes Signed-off-by: Kotaro Yoshimoto * fix(typo): interpolatable => interpolable (more common) Signed-off-by: Kotaro Yoshimoto * fix(typo): fillter => filter Signed-off-by: Kotaro Yoshimoto * fix(typo): retrurn => return Signed-off-by: Kotaro Yoshimoto * fix(typo): diagnotics => diagnostics Signed-off-by: Kotaro Yoshimoto * fix(typo): Frist => First Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore ptfilter (external reference code) Signed-off-by: Kotaro Yoshimoto * fix(typo): overwite => overwrite Signed-off-by: Kotaro Yoshimoto * fix(cspell): use semi-major instead of semimajor Signed-off-by: Kotaro Yoshimoto * fix(typo): transien => transient Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore multipolygon, multilinestring Signed-off-by: Kotaro Yoshimoto * fix(typo): symetric => symmetric Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore Gammell (person name) Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore Karaman (person name) Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore feps with adding explanation Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace iradius with i_radius Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace inorm with inv_norm Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace idist with i_dist Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore lfit, LFIT Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore Bboxes Signed-off-by: Kotaro Yoshimoto * fix(typo): unsuppoerted => unsupported Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore person names Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace eigvec with eig_vec Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace eigv with eig_v Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore eigenbox Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace fltmax with flt_max Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore asan Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore rsspace with adding explanation Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace bfqueue with bf_queue Signed-off-by: Kotaro Yoshimoto * chore(cspell): expanded abbreviations in variable names　in debug_plot.py Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore nparr with adding explanation Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace vmodel with vehicle_model Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore fpalgos Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace inpro with inner_product Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace iradius with i_radius Signed-off-by: Kotaro Yoshimoto * chore(cspell): replace sstm with ss Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore dend Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore ndim, ndata, linewidth Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore errors from parameter name Signed-off-by: Kotaro Yoshimoto * fix(typo): socre => score Signed-off-by: Kotaro Yoshimoto * chore(cspell): newstamp => new_stamp Signed-off-by: Kotaro Yoshimoto * chore(cspell): fuseon => fuseOn Signed-off-by: Kotaro Yoshimoto * chore(cspell): stdpair => std_pair Signed-off-by: Kotaro Yoshimoto * chore(cspell): boxid => box_id Signed-off-by: Kotaro Yoshimoto * fix(typo): intensity => intensity Signed-off-by: Kotaro Yoshimoto * fix(typo): inorder to => in order to Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore divup Signed-off-by: Kotaro Yoshimoto * chore(cspell): faceobjects => face_objects Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore rsspace Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore errors from citation Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore moraisim Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore ADMM Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore pointinpoly from reference Signed-off-by: Kotaro Yoshimoto * fix(typo): replaned => replanned Signed-off-by: Kotaro Yoshimoto * fix(typo): interaface => interface Signed-off-by: Kotaro Yoshimoto * fix(typo): supress => suppress Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * fix(typo): distane => distance Signed-off-by: Kotaro Yoshimoto * fix(typo): relevent => relevant Signed-off-by: Kotaro Yoshimoto * fix(typo): pedestrain => pedestrian Signed-off-by: Kotaro Yoshimoto * fix(typo): obejct => object Signed-off-by: Kotaro Yoshimoto * fix(typo): paramters => parameters Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore asdasd Signed-off-by: Kotaro Yoshimoto * chore(cspell): unnormalized => un-normalized Signed-off-by: Kotaro Yoshimoto * chore(cspell): precompilation => pre-compilation Signed-off-by: Kotaro Yoshimoto * fix(typo): compensents => components Signed-off-by: Kotaro Yoshimoto * fix(typo): cummulative => cumulative Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore degrounded Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore person names Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * chore(cspell): publically => publicly Signed-off-by: Kotaro Yoshimoto * chore(cspell): interpolable => interpolatable Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore longl Signed-off-by: Kotaro Yoshimoto * chore(cspell): pngs => png images Signed-off-by: Kotaro Yoshimoto * chore(cspell): concate => concat Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore cand Signed-off-by: Kotaro Yoshimoto * chore(cspell): image magick => imagemagick Signed-off-by: Kotaro Yoshimoto * fix(typo): faceo_ject=> face_object Signed-off-by: Kotaro Yoshimoto * chore(cspell): velocityinsertion => velocity insertion Signed-off-by: Kotaro Yoshimoto * fix(typo): euclidian => euclidean Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore steerings Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore OCCUPANCYGRID Signed-off-by: Kotaro Yoshimoto * fix(typo): occuring => occurring Signed-off-by: Kotaro Yoshimoto * fix(typo): refere => refer Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore fourcell Signed-off-by: Kotaro Yoshimoto * chore(cspell): eigvalue => eigenvalue Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore badpt Signed-off-by: Kotaro Yoshimoto * chore(cspell): ignore divb Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * style(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * doc: add comment to describe LFIT Co-authored-by: Yukihiro Saito Signed-off-by: Kotaro Yoshimoto * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto * update Signed-off-by: Kotaro Yoshimoto * fix(typo): interpolatable => interpolable (more common) Signed-off-by: Kotaro Yoshimoto * Squashed commit of the following: commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 test(freespace_planning_algorithms): done't dump rosbag by default (#2504) Signed-off-by: Hirokazu Ishida Signed-off-by: Hirokazu Ishida commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 feat(pose_initializer): partial map loading (#2500) * first commit Signed-off-by: kminoda * move function Signed-off-by: kminoda * now works Signed-off-by: kminoda * ci(pre-commit): autofix * update readme Signed-off-by: kminoda * ci(pre-commit): autofix * clarify how to enable partial mao loading interface Signed-off-by: kminoda * ci(pre-commit): autofix * update readme Signed-off-by: kminoda * ci(pre-commit): autofix * Update localization/pose_initializer/config/pose_initializer.param.yaml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix pre-commit Signed-off-by: kminoda Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi Date: Thu Dec 15 17:29:44 2022 +0900 feat(trajectory_follower): extend mpc trajectory for terminal yaw (#2447) * feat(trajectory_follower): extend mpc trajectory for terminal yaw Signed-off-by: kosuke55 * make mpc min vel param Signed-off-by: kosuke55 * add mpc extended point after smoothing Signed-off-by: kosuke55 * Revert "make mpc min vel param" This reverts commit 02157b6ae0c2ff1564840f6d15e3c55025327baf. Signed-off-by: kosuke55 * add comment and hypot Signed-off-by: kosuke55 * remove min vel Signed-off-by: kosuke55 * add flag for extending traj Signed-off-by: kosuke55 * add extend param to default param Signed-off-by: kosuke55 * fix typo Signed-off-by: kosuke55 * fix from TakaHoribe review Signed-off-by: kosuke55 * fix typo Signed-off-by: kosuke55 * refactor Signed-off-by: kosuke55 Signed-off-by: kosuke55 commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 feat(component_interface_tools): add service log checker (#2503) * feat(component_interface_utils): add service log checker Signed-off-by: Takagi, Isamu * feat(component_interface_tools): add service log checker Signed-off-by: Takagi, Isamu * feat(component_interface_tools): add diagnostics Signed-off-by: Takagi, Isamu * feat: update system error monitor config Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 fix(behavior_path_planner): fix goal lanelet extension (#2508) Signed-off-by: yutaka Signed-off-by: yutaka commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 feat(behavior_path_planner): change side shift module logic (#2195) * change side shift module design Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * cherry picked side shift controller Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * add debug marker to side shift Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * fix pointer error due to direct assignment added make_shared Signed-off-by: Muhammad Zulfaqar Azmi * add flow chart Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * add status of AFTER_SHIFT Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * remove function for debug Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * ci(pre-commit): autofix * fix flow chart Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * ci(pre-commit): autofix Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: tanaka3 Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe Date: Wed Dec 14 19:59:00 2022 +0900 refactor(simple_planning_simulator): make function for duplicated code (#2502) Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 fix(behavior_path_planner): fix planner data copy (#2501) Signed-off-by: yutaka Signed-off-by: yutaka commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 fix(behavior_path_planner): fix find nearest function from lateral distance (#2499) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 feat(behavior_path_planner): fix overlap checker (#2498) * feat(behavior_path_planner): fix overlap checker Signed-off-by: yutaka * remove reserve Signed-off-by: yutaka Signed-off-by: yutaka commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 feat(mission_planner): check goal footprint (#2088) Signed-off-by: ismet atabay commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe Date: Tue Dec 13 22:46:24 2022 +0900 feat(trajectory_visualizer): update for steer limit, remove tf for pose source (#2267) Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (#2494) * feat(behavior_path_planner): clean drivable area code Signed-off-by: yutaka * make a function for turn signal decider Signed-off-by: yutaka Signed-off-by: yutaka commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 feat(behavior_path_planner): change turn signal output timing (#2493) Signed-off-by: yutaka Signed-off-by: yutaka commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 feat(map_loader): add differential map loading interface (#2417) * first commit Signed-off-by: kminoda * ci(pre-commit): autofix * added module load in _node.cpp Signed-off-by: kminoda * ci(pre-commit): autofix * create pcd metadata dict when either of the flag is true Signed-off-by: kminoda * ci(pre-commit): autofix * fix readme * ci(pre-commit): autofix Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 docs(default_ad_api): add readme (#2491) * docs(default_ad_api): add readme Signed-off-by: Takagi, Isamu * feat: update table Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 feat(default_ad_api): split parameters into file (#2488) * feat(default_ad_api): split parameters into file Signed-off-by: Takagi, Isamu * feat: remove old parameter Signed-off-by: Takagi, Isamu * fix: test Signed-off-by: Takagi, Isamu * feat: add default config Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (#2472) * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka * update obstacle avoidance planner Signed-off-by: yutaka * update Signed-off-by: yutaka * clean code Signed-off-by: yutaka * uddate Signed-off-by: yutaka * clean code Signed-off-by: yutaka * remove resample Signed-off-by: yutaka * update Signed-off-by: yutaka * add orientation Signed-off-by: yutaka * change color Signed-off-by: yutaka * update Signed-off-by: yutaka * remove drivable area Signed-off-by: yutaka * add flag Signed-off-by: yutaka * update Signed-off-by: yutaka * update color Signed-off-by: yutaka * fix some codes Signed-off-by: yutaka * change to makerker array Signed-off-by: yutaka * change avoidance utils Signed-off-by: yutaka Signed-off-by: yutaka commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 refactor(vehicle_cmd_gate): remove old emergency topics (#2403) Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 feat: replace python launch with xml launch for system monitor (#2430) * feat: replace python launch with xml launch for system monitor Signed-off-by: Daisuke Nishimatsu * ci(pre-commit): autofix * update figure Signed-off-by: Daisuke Nishimatsu Signed-off-by: Daisuke Nishimatsu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi Date: Mon Dec 12 15:01:39 2022 +0900 feat(trajectory_follower): pub steer converged marker (#2441) * feat(trajectory_follower): pub steer converged marker Signed-off-by: kosuke55 * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. Signed-off-by: kosuke55 * add steer converged debug marker in contoller_node Signed-off-by: kosuke55 Signed-off-by: kosuke55 commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 docs(tier4_state_rviz_plugin): update readme (#2475) Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 chore(simulator_compatibility_test): suppress setuptools warnings (#2483) Signed-off-by: Takagi, Isamu Signed-off-by: Takagi, Isamu commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 fix(behavior_path_planner): lane change candidate resolution (#2426) * fix(behavior_path_planner): lane change candidate resolution Signed-off-by: Muhammad Zulfaqar Azmi * rework sampling based on current speed Signed-off-by: Muhammad Zulfaqar Azmi * refactor code Signed-off-by: Muhammad Zulfaqar Azmi * use util's resampler Signed-off-by: Muhammad Zulfaqar Azmi * consider min_resampling_points and resampling dt Signed-off-by: Muhammad Zulfaqar * simplify code Signed-off-by: Muhammad Zulfaqar Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 fix(behavior_path_planner): minimum distance for lane change (#2413) Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 revert(behavior_path): revert removal of refineGoalFunction (#2340)" (#2485) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. Signed-off-by: mitsudome-r Signed-off-by: mitsudome-r commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (#2350) Signed-off-by: NorahXiong Signed-off-by: NorahXiong Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 fix(ground-segmentation): recheck gnd cluster pointcloud (#2448) * fix: reclassify ground cluster pcl Signed-off-by: badai-nguyen * fix: add lowest-based recheck Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen * chore: refactoring Signed-off-by: badai-nguyen Signed-off-by: badai-nguyen Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe Date: Fri Dec 9 16:29:45 2022 +0900 fix(trajectory_follower): fix mpc trajectory z pos (#2482) Signed-off-by: takahoribe Signed-off-by: takahoribe commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 feat(behavior_velocity_planner): clean walkway module (#2480) Signed-off-by: yutaka Signed-off-by: yutaka commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara Date: Thu Dec 8 22:59:32 2022 +0900 fix(emergency_handler): fix mrm handling when mrm behavior is none (#2476) Signed-off-by: Makoto Kurihara Signed-off-by: Makoto Kurihara commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 feat(behavior_velocity_planner): add velocity factors (#1985) * (editting) add intersection_coordination to stop reason Signed-off-by: TakumiKozaka-T4 * (editting) add intersection coordination to stop reasons Signed-off-by: TakumiKozaka-T4 * (Editting) add v2x to stop reason Signed-off-by: TakumiKozaka-T4 * (editting) add stop reason2 publisher Signed-off-by: TakumiKozaka-T4 * (editting) add stop reason2 to scene modules Signed-off-by: TakumiKozaka-T4 * add stop reason2 to obstacle stop planner and surround obstacle checker Signed-off-by: TakumiKozaka-T4 * Modify files including unintended change by rebase Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix * Modification 1: not to publsh vacant stop reason, 2: change default status in obstacle stop and surround obstacle checker Signed-off-by: TakumiKozaka-T4 * fix error Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix * modification for renaming stop_reason2 to motion_factor Signed-off-by: TakumiKozaka-T4 * (Editting) rename variables Signed-off-by: TakumiKozaka-T4 * bug fix Signed-off-by: TakumiKozaka-T4 * (WIP) Add motion factor message. Modify scene modules due to new motion factor. Moving motion factor aggregator. Signed-off-by: TakumiKozaka-T4 * (WIP) Save current work. Modify aggregator, CMakeList. Add launcher Signed-off-by: TakumiKozaka-T4 * (WIP) Solved build error, but not launched Signed-off-by: TakumiKozaka-T4 * (WIP) fixing error in launch Signed-off-by: TakumiKozaka-T4 * (WIP) fixing error in launch Signed-off-by: TakumiKozaka-T4 * (WIP) fixing launch error Signed-off-by: TakumiKozaka-T4 * Fix error in launching motion factor aggregator Signed-off-by: TakumiKozaka-T4 * Delete unnecessary comment-out in CMakelists. Change remapping in launcher. Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix * pull the latest foundation/main Signed-off-by: TakumiKozaka-T4 * (fix for pre-commit.ci) Add to motion_factor_aggregator.hpp Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix * feat: add velocity factor interface Signed-off-by: Takagi, Isamu * fix: fix build error Signed-off-by: Takagi, Isamu * feat: stop sign Signed-off-by: Takagi, Isamu * WIP Signed-off-by: Takagi, Isamu * feat: update visualizer Signed-off-by: Takagi, Isamu * feat: modify traffic light manager Signed-off-by: Takagi, Isamu * feat: update velocity factors Signed-off-by: Takagi, Isamu * feat: update api Signed-off-by: Takagi, Isamu * feat: move adapi msgs Signed-off-by: Takagi, Isamu * feat: remove old aggregator Signed-off-by: Takagi, Isamu * feat: move api Signed-off-by: Takagi, Isamu * feat: rename message Signed-off-by: Takagi, Isamu * feat: add using Signed-off-by: Takagi, Isamu * feat: add distance Signed-off-by: Takagi, Isamu * feat: fix build error Signed-off-by: Takagi, Isamu * feat: use nan as default distance Signed-off-by: Takagi, Isamu * fix: set virtual traffic light detail Signed-off-by: Takagi, Isamu * fix: remove debug code Signed-off-by: Takagi, Isamu * fix: copyright Signed-off-by: Takagi, Isamu Signed-off-by: TakumiKozaka-T4 Signed-off-by: Takagi, Isamu Co-authored-by: TakumiKozaka-T4 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi Date: Thu Dec 8 13:42:50 2022 +0900 fix(freespace_planning_algorithms): comment out failing tests (#2440) Signed-off-by: kosuke55 Signed-off-by: kosuke55 commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 feat(gyro_odometer): publish twist when both data arrives (#2423) * feat(gyro_odometer): publish when both data arrive Signed-off-by: kminoda * remove unnecessary commentouts Signed-off-by: kminoda * ci(pre-commit): autofix * use latest timestamp Signed-off-by: kminoda * small fix Signed-off-by: kminoda * debugged Signed-off-by: kminoda * update gyro_odometer Signed-off-by: kminoda * ci(pre-commit): autofix * add comments Signed-off-by: kminoda * add comments Signed-off-by: kminoda * ci(pre-commit): autofix * fix timestamp validation flow Signed-off-by: kminoda * ci(pre-commit): autofix * remove unnecessary commentouts Signed-off-by: kminoda * pre-commit Signed-off-by: kminoda * ci(pre-commit): autofix Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 fix: remove unnecessary DEBUG_INFO declarations (#2457) Signed-off-by: kminoda Signed-off-by: kminoda commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka Date: Thu Dec 8 00:28:35 2022 +0900 fix(tier4_autoware_api_launch): add rosbridge_server dependency (#2470) Signed-off-by: Takayuki Murooka Signed-off-by: Takayuki Murooka commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (#2455) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 fix(motion_utils): rename sampling function (#2469) Signed-off-by: yutaka Signed-off-by: yutaka commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito Date: Wed Dec 7 16:33:44 2022 +0900 feat: remove web controller (#2405) Signed-off-by: Yukihiro Saito Signed-off-by: Yukihiro Saito commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 feat(motion_utils): add points resample function (#2465) Signed-off-by: yutaka Signed-off-by: yutaka commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 docs: update training data for traffic light (#2464) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe Date: Wed Dec 7 12:21:49 2022 +0900 perf(behavior_velocity_planner): remove unnecessary debug data (#2462) Signed-off-by: veqcc commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 feat(behavior_path_planner): cut overlapped path (#2451) * feat(behavior_path_planner): cut overlapped path Signed-off-by: yutaka * clean code Signed-off-by: yutaka Signed-off-by: yutaka commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 revert(default_ad_api): fix autoware state to add wait time (#2407) (#2460) Revert "fix(default_ad_api): fix autoware state to add wait time (#2407)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara Date: Wed Dec 7 10:32:41 2022 +0900 fix(raw_vehicle_cmd_converter): fix column index for map validation (#2450) Signed-off-by: Makoto Kurihara Signed-off-by: Makoto Kurihara commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent Date: Tue Dec 6 10:39:02 2022 +0100 fix(tvm_utility): copy test result to CPU (#2414) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Signed-off-by: Ambroise Vincent Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d Signed-off-by: Ambroise Vincent Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue Date: Tue Dec 6 18:11:41 2022 +0900 chore(behaviror_velocity_planner): changed logging level for intersection (#2459) changed logging level Signed-off-by: Mamoru Sobue commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 fix(default_ad_api): fix autoware state to add wait time (#2407) * fix(default_ad_api): fix autoware state to add wait time Signed-off-by: Takagi, Isamu * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Takagi, Isamu Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe Date: Tue Dec 6 13:55:17 2022 +0900 feat(transition_manager): add param to ignore autonomous transition condition (#2453) * feat(transition_manager): add param to ignore autonomous transition condition Signed-off-by: Takamasa Horibe * same for modeChangeCompleted Signed-off-by: Takamasa Horibe * remove debug print Signed-off-by: Takamasa Horibe Signed-off-by: Takamasa Horibe commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura Date: Tue Dec 6 13:01:06 2022 +0900 feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (#2427) Signed-off-by: tomoya.kimura Signed-off-by: tomoya.kimura Signed-off-by: Kotaro Yoshimoto * chore(cspell): interpolable => interpolatable Signed-off-by: Kotaro Yoshimoto * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing changes made to 1f7157a6b6d957dc0ddd2ac5ef7f8a36c94b96e4. Signed-off-by: Kotaro Yoshimoto * chore: fix duplication of parameter Signed-off-by: Kotaro Yoshimoto * chore: fix duplication of function Signed-off-by: Kotaro Yoshimoto * revert: system/system_monitor/launch/system_monitor.launch.xml Signed-off-by: Kotaro Yoshimoto --------- Signed-off-by: Kotaro Yoshimoto Signed-off-by: Kotaro Yoshimoto Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito --- .../helper_functions/message_adapters.hpp | 2 +- .../test/test_template_utils.cpp | 1 + .../bounding_box/bounding_box_common.hpp | 4 +- .../geometry/bounding_box/eigenbox_2d.hpp | 47 ++++++++------- .../include/geometry/bounding_box/lfit.hpp | 18 +++--- .../bounding_box/rotating_calipers.hpp | 6 +- .../include/geometry/common_2d.hpp | 9 +-- .../include/geometry/convex_hull.hpp | 2 + .../include/geometry/intersection.hpp | 7 ++- .../include/geometry/interval.hpp | 6 +- .../include/geometry/spatial_hash_config.hpp | 30 +++++----- .../src/bounding_box.cpp | 4 +- .../test/include/test_bounding_box.hpp | 5 +- .../test/src/lookup_table.cpp | 2 +- .../test/src/test_area.cpp | 2 +- .../test/src/test_common_2d.cpp | 2 +- .../test/test_polygon_iterator.cpp | 4 +- .../src/spline_interpolation_points_2d.cpp | 2 +- .../documentation/ButterworthFilter.md | 2 + common/signal_processing/src/butterworth.cpp | 1 + .../tensorrt_common/src/tensorrt_common.cpp | 1 + .../control_performance_analysis/README.md | 4 +- .../config/controller_monitor.xml | 2 +- .../control_performance_analysis_utils.cpp | 8 +-- control/mpc_lateral_controller/README.md | 2 + .../mpc_lateral_controller/mpc_trajectory.hpp | 2 +- .../mpc_lateral_controller/mpc_utils.hpp | 2 +- .../qp_solver/qp_solver_interface.hpp | 2 +- .../test/test_interpolate.cpp | 2 +- .../pure_pursuit/util/planning_utils.hpp | 1 + .../longitudinal_controller_base.hpp | 4 +- localization/ekf_localizer/README.md | 2 +- localization/ndt_scan_matcher/README.md | 2 + .../config/ndt_scan_matcher.param.yaml | 1 + .../ndt_scan_matcher_core.hpp | 1 + .../src/ndt_scan_matcher_core.cpp | 1 + .../test/test_uniform_random.cpp | 2 +- perception/elevation_map_loader/README.md | 2 +- .../include/ground_segmentation/gencolors.hpp | 2 + .../heatmap_visualizer_node.hpp | 2 +- .../config/pointpainting.param.yaml | 2 +- .../docs/pointpainting-fusion.md | 4 ++ .../fusion_node.hpp | 5 +- .../launch/roi_cluster_fusion.launch.xml | 1 + .../src/fusion_node.cpp | 49 ++++++++-------- .../pointpainting_fusion/preprocess_kernel.cu | 1 + .../pointpainting_fusion/voxel_generator.cpp | 4 +- .../src/roi_cluster_fusion/node.cpp | 2 + .../src/roi_detected_object_fusion/node.cpp | 2 + .../lidar_centerpoint/centerpoint_config.hpp | 2 +- .../include/lidar_centerpoint/utils.hpp | 1 + .../centerpoint_vs_centerpoint-tiny/README.md | 2 +- .../lib/network/scatter_kernel.cu | 1 + .../lib/postprocess/circle_nms_kernel.cu | 1 + .../lib/postprocess/postprocess_kernel.cu | 3 +- .../lib/preprocess/preprocess_kernel.cu | 1 + .../lib/preprocess/voxel_generator.cpp | 4 +- perception/lidar_centerpoint/lib/utils.cpp | 1 + .../include/lidar_centerpoint_tvm/utils.hpp | 1 + .../postprocess/generate_detected_boxes.cpp | 11 ++-- .../lib/preprocess/generate_features.cpp | 3 +- .../lidar_centerpoint_tvm/lib/utils.cpp | 1 + perception/map_based_prediction/README.md | 2 +- .../multi_object_tracker/utils/utils.hpp | 2 +- ...dar_fusion_to_detected_object_5.drawio.svg | 4 +- perception/tensorrt_yolox/README.md | 2 + .../include/tensorrt_yolox/tensorrt_yolox.hpp | 5 +- .../tensorrt_yolox/src/tensorrt_yolox.cpp | 29 +++++----- .../avoidance/avoidance_module.cpp | 4 +- .../crosswalk-design.md | 2 +- .../docs/crosswalk/limitation.svg | 4 +- planning/freespace_planner/README.md | 6 +- .../freespace_planning_algorithms/README.md | 4 +- .../freespace_planning_algorithms/rrtstar.hpp | 4 +- .../rrtstar_core.hpp | 9 +-- .../freespace_planning_algorithms/rrtstar.md | 6 +- .../src/rrtstar.cpp | 16 +++--- .../src/rrtstar_core.cpp | 57 ++++++++++--------- .../test/debug_plot.py | 43 +++++++------- .../test/debug_plot_rrtstar_core.py | 2 + .../test_freespace_planning_algorithms.cpp | 17 +++--- planning/obstacle_cruise_planner/README.md | 2 +- .../pid_based_planner/pid_based_planner.hpp | 2 +- planning/obstacle_velocity_limiter/README.md | 4 +- .../collision_checker_benchmark.cpp | 1 + .../obstacle_velocity_limiter/debug.hpp | 1 + .../obstacle_velocity_limiter/distance.hpp | 1 + .../forward_projection.hpp | 1 + .../obstacle_velocity_limiter/map_utils.hpp | 1 + .../obstacle_velocity_limiter.hpp | 5 +- .../obstacle_velocity_limiter_node.hpp | 1 + .../obstacle_velocity_limiter/obstacles.hpp | 1 + .../occupancy_grid_utils.hpp | 1 + .../obstacle_velocity_limiter/parameters.hpp | 2 + .../pointcloud_utils.hpp | 3 +- .../trajectory_preprocessing.hpp | 1 + .../obstacle_velocity_limiter/types.hpp | 1 + .../obstacle_velocity_limiter/src/debug.cpp | 1 + .../src/distance.cpp | 8 +-- .../src/forward_projection.cpp | 1 + .../src/map_utils.cpp | 1 + .../src/obstacle_velocity_limiter_node.cpp | 1 + .../src/obstacles.cpp | 1 + .../src/occupancy_grid_utils.cpp | 1 + .../src/pointcloud_utils.cpp | 1 + .../test/test_collision_distance.cpp | 1 + .../test/test_forward_projection.cpp | 1 + .../test/test_obstacles.cpp | 1 + .../test/test_occupancy_grid_utils.cpp | 1 + planning/planning_debug_tools/Readme.md | 3 + .../scripts/closest_velocity_checker.py | 4 +- .../include/planning_validator/utils.hpp | 1 + sensing/geo_pos_conv/src/geo_pos_conv.cpp | 2 +- .../gnss_poser/include/gnss_poser/convert.hpp | 16 +++--- .../include/gnss_poser/gnss_stat.hpp | 4 +- sensing/image_diagnostics/README.md | 2 +- .../config/processing_time_ms.xml | 2 +- .../docs/blockage_diag.md | 2 +- .../docs/distortion-corrector.md | 2 +- .../image/blockage_diag_flowchart.drawio.svg | 10 ++-- .../outlier_filter-return_type.drawio.svg | 4 +- .../passthrough_filter/passthrough_uint16.hpp | 1 + .../dual_return_outlier_filter_nodelet.cpp | 6 +- .../passthrough_filter/passthrough_uint16.cpp | 9 +-- .../voxel_grid_nearest_centroid.hpp | 13 +++-- .../voxel_grid_nearest_centroid_impl.hpp | 3 +- .../src/signed_distance_function.cpp | 2 +- .../simulator_compatibility_test/README.md | 4 +- .../simulator_compatibility_test/setup.py | 2 + .../publishers/moraisim/morai_ctrl_cmd.py | 1 + .../accel_brake_map_calibrator/README.md | 3 + .../raw_vehicle_cmd_converter/src/node.cpp | 2 +- 132 files changed, 394 insertions(+), 272 deletions(-) diff --git a/common/autoware_auto_common/include/helper_functions/message_adapters.hpp b/common/autoware_auto_common/include/helper_functions/message_adapters.hpp index 4d5dbec213aa8..352ef7c7b65d5 100644 --- a/common/autoware_auto_common/include/helper_functions/message_adapters.hpp +++ b/common/autoware_auto_common/include/helper_functions/message_adapters.hpp @@ -34,7 +34,7 @@ namespace message_field_adapters /// Using alias for Time message using TimeStamp = builtin_interfaces::msg::Time; -/// \brief Helper class to check existance of header file in compile time: +/// \brief Helper class to check existence of header file in compile time: /// https://stackoverflow.com/a/16000226/2325407 template struct HasHeader : std::false_type diff --git a/common/autoware_auto_common/test/test_template_utils.cpp b/common/autoware_auto_common/test/test_template_utils.cpp index 5ef1dea5b8ad1..9c9ca9ae4b5f2 100644 --- a/common/autoware_auto_common/test/test_template_utils.cpp +++ b/common/autoware_auto_common/test/test_template_utils.cpp @@ -60,6 +60,7 @@ template using false_bar_expression2 = decltype(std::declval().bar(std::declval(), std::declval())); +// cspell: ignore asdasd // Signature mismatch: template using false_bar_expression3 = decltype(std::declval().asdasd( diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp b/common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp index 10c8b48f6f546..d1dee63f73b56 100644 --- a/common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp +++ b/common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp @@ -107,7 +107,7 @@ template using Point4 = std::array; /// \brief Helper struct for compile time introspection of array size from -/// stackoverflow.com/questions/16866033/getting-the-number-of-elements-in-stdarray-at-compile-time +/// Ref: https://stackoverflow.com/questions/16866033 template struct array_size; template @@ -132,7 +132,7 @@ finalize_box(const decltype(BoundingBox::corners) & corners, BoundingBox & box); /// \brief given support points and two orthogonal directions, compute corners of bounding box /// \tparam PointT Type of a point, must have float members x and y` -/// \tparam IT An iterator dereferencable into PointT +/// \tparam IT An iterator dereferenceable into PointT /// \param[out] corners Gets filled with corner points of bounding box /// \param[in] supports Iterators referring to support points of current bounding box /// e.g. bounding box is touching these points diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp b/common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp index 9ee460895a0c4..ae142badec4eb 100644 --- a/common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp +++ b/common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp @@ -18,6 +18,7 @@ /// \brief This file implements 2D pca on a linked list of points to estimate an oriented /// bounding box +// cspell: ignore eigenbox, EIGENBOX #ifndef GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_ #define GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_ @@ -50,11 +51,12 @@ struct Covariance2d std::size_t num_points; }; // struct Covariance2d +// cspell: ignore Welford /// \brief Compute 2d covariance matrix of a list of points using Welford's online algorithm /// \param[in] begin An iterator pointing to the first point in a point list /// \param[in] end An iterator pointing to one past the last point in the point list -/// \tparam IT An iterator type dereferencable into a point with float members x and y -/// \return A 2d covariance matrix for all points inthe list +/// \tparam IT An iterator type dereferenceable into a point with float members x and y +/// \return A 2d covariance matrix for all points in the list template Covariance2d covariance_2d(const IT begin, const IT end) { @@ -93,13 +95,14 @@ Covariance2d covariance_2d(const IT begin, const IT end) /// \brief Compute eigenvectors and eigenvalues /// \param[in] cov 2d Covariance matrix -/// \param[out] eigvec1 First eigenvector -/// \param[out] eigvec2 Second eigenvector +/// \param[out] eig_vec1 First eigenvector +/// \param[out] eig_vec2 Second eigenvector /// \tparam PointT Point type that has at least float members x and y /// \return A pairt of eigenvalues: The first is the larger eigenvalue /// \throw std::runtime error if you would get degenerate covariance template -std::pair eig_2d(const Covariance2d & cov, PointT & eigvec1, PointT & eigvec2) +std::pair eig_2d( + const Covariance2d & cov, PointT & eig_vec1, PointT & eig_vec2) { const float32_t tr_2 = (cov.xx + cov.yy) * 0.5F; const float32_t det = (cov.xx * cov.yy) - (cov.xy * cov.xy); @@ -120,28 +123,28 @@ std::pair eig_2d(const Covariance2d & cov, PointT & eigvec // are persistent against further calculations. // (e.g. taking cross product of two eigen vectors) if (fabsf(cov.xy * cov.xy) > std::numeric_limits::epsilon()) { - xr_(eigvec1) = cov.xy; - yr_(eigvec1) = ret.first - cov.xx; - xr_(eigvec2) = cov.xy; - yr_(eigvec2) = ret.second - cov.xx; + xr_(eig_vec1) = cov.xy; + yr_(eig_vec1) = ret.first - cov.xx; + xr_(eig_vec2) = cov.xy; + yr_(eig_vec2) = ret.second - cov.xx; } else { if (cov.xx > cov.yy) { - xr_(eigvec1) = 1.0F; - yr_(eigvec1) = 0.0F; - xr_(eigvec2) = 0.0F; - yr_(eigvec2) = 1.0F; + xr_(eig_vec1) = 1.0F; + yr_(eig_vec1) = 0.0F; + xr_(eig_vec2) = 0.0F; + yr_(eig_vec2) = 1.0F; } else { - xr_(eigvec1) = 0.0F; - yr_(eigvec1) = 1.0F; - xr_(eigvec2) = 1.0F; - yr_(eigvec2) = 0.0F; + xr_(eig_vec1) = 0.0F; + yr_(eig_vec1) = 1.0F; + xr_(eig_vec2) = 1.0F; + yr_(eig_vec2) = 0.0F; } } return ret; } /// \brief Given eigenvectors, compute support (furthest) point in each direction -/// \tparam IT An iterator type dereferencable into a point with float members x and y +/// \tparam IT An iterator type dereferenceable into a point with float members x and y /// \tparam PointT type of a point with float members x and y /// \param[in] begin An iterator pointing to the first point in a point list /// \param[in] end An iterator pointing to one past the last point in the point list @@ -183,7 +186,7 @@ bool8_t compute_supports( } /// \brief Compute bounding box given a pair of basis directions -/// \tparam IT An iterator type dereferencable into a point with float members x and y +/// \tparam IT An iterator type dereferenceable into a point with float members x and y /// \tparam PointT Point type of the lists, must have float members x and y /// \param[in] ax1 First basis direction, assumed to be normal to ax2 /// \param[in] ax2 Second basis direction, assumed to be normal to ax1, assumed to be ccw wrt ax1 @@ -210,7 +213,7 @@ BoundingBox compute_bounding_box( /// modify the list. The resulting bounding box is not necessarily minimum in any way /// \param[in] begin An iterator pointing to the first point in a point list /// \param[in] end An iterator pointing to one past the last point in the point list -/// \tparam IT An iterator type dereferencable into a point with float members x and y +/// \tparam IT An iterator type dereferenceable into a point with float members x and y /// \return An oriented bounding box in x-y. This bounding box has no height information template BoundingBox eigenbox_2d(const IT begin, const IT end) @@ -222,7 +225,7 @@ BoundingBox eigenbox_2d(const IT begin, const IT end) using PointT = details::base_type; PointT eig1; PointT eig2; - const auto eigv = details::eig_2d(cov, eig1, eig2); + const auto eig_v = details::eig_2d(cov, eig1, eig2); // find extreme points details::Point4 supports; @@ -232,7 +235,7 @@ BoundingBox eigenbox_2d(const IT begin, const IT end) std::swap(eig1, eig2); } BoundingBox bbox = details::compute_bounding_box(eig1, eig2, supports); - bbox.value = eigv.first; + bbox.value = eig_v.first; return bbox; } diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp b/common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp index ac8ed09b4036e..9b8991a7c7132 100644 --- a/common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp +++ b/common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp @@ -18,6 +18,8 @@ /// \brief This file implements 2D pca on a linked list of points to estimate an oriented /// bounding box +// cspell: ignore LFIT, lfit +// LFIT means "L-Shape Fitting" #ifndef GEOMETRY__BOUNDING_BOX__LFIT_HPP_ #define GEOMETRY__BOUNDING_BOX__LFIT_HPP_ @@ -117,8 +119,8 @@ float32_t solve_lfit(const LFitWs & ws, PointT & dir) ws.m22d - (((ws.m12b * ws.m12b) * pi) + ((ws.m12d * ws.m12d) * qi)), ws.m22b - (((ws.m12a * ws.m12b) * pi) + ((ws.m12c * ws.m12d) * qi)), 0UL}; PointT eig1; - const auto eigv = eig_2d(M, eig1, dir); - return eigv.second; + const auto eig_v = eig_2d(M, eig1, dir); + return eig_v.second; } /// \brief Increments L fit M matrix with information in the point @@ -176,7 +178,7 @@ class LFitCompare /// \param[in] end An iterator pointing to one past the last point in the point list /// \param[in] size The number of points in the point list /// \return A bounding box that minimizes the LFit residual -/// \tparam IT An iterator type dereferencable into a point with float members x and y +/// \tparam IT An iterator type dereferenceable into a point with float members x and y template BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::size_t size) { @@ -207,11 +209,11 @@ BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::s } } // can recover best corner point, but don't care, need to cover all points - const auto inorm = 1.0F / norm_2d(best_normal); - if (!std::isnormal(inorm)) { + const auto inv_norm = 1.0F / norm_2d(best_normal); + if (!std::isnormal(inv_norm)) { throw std::runtime_error{"LFit: Abnormal norm"}; } - best_normal = times_2d(best_normal, inorm); + best_normal = times_2d(best_normal, inv_norm); auto best_tangent = get_normal(best_normal); // find extreme points Point4 supports; @@ -235,7 +237,7 @@ BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::s /// \param[in] hint An iterator pointing to the point whose normal will be used to sort the list /// \return A pair where the first element is an iterator pointing to the nearest point, and the /// second element is the size of the list -/// \tparam IT An iterator type dereferencable into a point with float members x and y +/// \tparam IT An iterator type dereferenceable into a point with float members x and y /// \throw std::domain_error If the number of points is too few template BoundingBox lfit_bounding_box_2d( @@ -258,7 +260,7 @@ BoundingBox lfit_bounding_box_2d( /// \return An oriented bounding box in x-y. This bounding box has no height information /// \param[in] begin An iterator pointing to the first point in a point list /// \param[in] end An iterator pointing to one past the last point in the point list -/// \tparam IT An iterator type dereferencable into a point with float members x and y +/// \tparam IT An iterator type dereferenceable into a point with float members x and y template BoundingBox lfit_bounding_box_2d(const IT begin, const IT end) { diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp b/common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp index 9139a2055be12..5bc05810bb1b0 100644 --- a/common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp +++ b/common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp @@ -139,7 +139,7 @@ void init_bbox(const IT begin, const IT end, Point4 & support) /// \param[in] end An iterator to one past the last point on a convex hull /// \param[in] metric_fn A functor determining what measure the bounding box is minimum with respect /// to -/// \tparam IT An iterator type dereferencable into a point type with float members x and y +/// \tparam IT An iterator type dereferenceable into a point type with float members x and y /// \tparam MetricF A functor that computes a float measure from the x and y size (width and length) /// of a bounding box, assumed to be packed in a Point32 message. /// \throw std::domain_error if the list of points is too small to reasonable generate a bounding @@ -223,7 +223,7 @@ BoundingBox rotating_calipers_impl(const IT begin, const IT end, const MetricF m /// \param[in] begin An iterator to the first point on a convex hull /// \param[in] end An iterator to one past the last point on a convex hull /// \return A minimum area bounding box, value field is the area -/// \tparam IT An iterator type dereferencable into a point type with float members x and y +/// \tparam IT An iterator type dereferenceable into a point type with float members x and y template BoundingBox minimum_area_bounding_box(const IT begin, const IT end) { @@ -238,7 +238,7 @@ BoundingBox minimum_area_bounding_box(const IT begin, const IT end) /// \param[in] begin An iterator to the first point on a convex hull /// \param[in] end An iterator to one past the last point on a convex hull /// \return A minimum perimeter bounding box, value field is half the perimeter -/// \tparam IT An iterator type dereferencable into a point type with float members x and y +/// \tparam IT An iterator type dereferenceable into a point type with float members x and y template BoundingBox minimum_perimeter_bounding_box(const IT begin, const IT end) { diff --git a/common/autoware_auto_geometry/include/geometry/common_2d.hpp b/common/autoware_auto_geometry/include/geometry/common_2d.hpp index 018904d51dda3..fd045003521ea 100644 --- a/common/autoware_auto_geometry/include/geometry/common_2d.hpp +++ b/common/autoware_auto_geometry/include/geometry/common_2d.hpp @@ -262,7 +262,6 @@ T times_2d(const T & p, const float32_t a) /// \tparam T point type. Must have point adapters defined or have float members x and y /// \brief solve p + t * u = q + s * v /// Ref: https://stackoverflow.com/questions/563198/ -/// whats-the-most-efficent-way-to-calculate-where-two-line-segments-intersect /// \param[in] pt anchor point of first line /// \param[in] u direction of first line /// \param[in] q anchor point of second line @@ -274,6 +273,8 @@ inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v) { const float32_t num = cross_2d(minus_2d(pt, q), u); float32_t den = cross_2d(v, u); + // cspell: ignore FEPS + // FEPS means "Float EPSilon" constexpr auto FEPS = std::numeric_limits::epsilon(); if (fabsf(den) < FEPS) { if (fabsf(num) < FEPS) { @@ -292,7 +293,7 @@ inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v) /// \brief rotate point given precomputed sin and cos /// \param[inout] pt point to rotate /// \param[in] cos_th precomputed cosine value -/// \param[in] sin_th precompined sine value +/// \param[in] sin_th precomputed sine value template inline void rotate_2d(T & pt, const float32_t cos_th, const float32_t sin_th) { @@ -321,7 +322,7 @@ inline T rotate_2d(const T & pt, const float32_t th_rad) /// \brief compute q s.t. p T q, or p * q = 0 /// This is the equivalent of a 90 degree ccw rotation /// \param[in] pt point to get normal point of -/// \return point normal to p (unnormalized) +/// \return point normal to p (un-normalized) template inline T get_normal(const T & pt) { @@ -334,7 +335,7 @@ inline T get_normal(const T & pt) /// \tparam T point type. Must have point adapters defined or have float members x and y /// \brief get magnitude of x and y components: /// \param[in] pt point to get magnitude of -/// \return magitude of x and y components together +/// \return magnitude of x and y components together template inline auto norm_2d(const T & pt) { diff --git a/common/autoware_auto_geometry/include/geometry/convex_hull.hpp b/common/autoware_auto_geometry/include/geometry/convex_hull.hpp index 2687f04f33c7b..e690c4d07441b 100644 --- a/common/autoware_auto_geometry/include/geometry/convex_hull.hpp +++ b/common/autoware_auto_geometry/include/geometry/convex_hull.hpp @@ -136,6 +136,8 @@ typename std::list::const_iterator convex_hull_impl(std::list & const auto lexical_comparator = [](const PointT & a, const PointT & b) -> bool8_t { using point_adapter::x_; using point_adapter::y_; + // cspell: ignore FEPS + // FEPS means "Float EPSilon" constexpr auto FEPS = std::numeric_limits::epsilon(); return (fabsf(x_(a) - x_(b)) > FEPS) ? (x_(a) < x_(b)) : (y_(a) < y_(b)); }; diff --git a/common/autoware_auto_geometry/include/geometry/intersection.hpp b/common/autoware_auto_geometry/include/geometry/intersection.hpp index 174d18cd2b62c..87dc32b0190d0 100644 --- a/common/autoware_auto_geometry/include/geometry/intersection.hpp +++ b/common/autoware_auto_geometry/include/geometry/intersection.hpp @@ -83,7 +83,7 @@ std::vector get_sorted_face_list(const Iter start, const Iter end) return face_list; } -/// \brief Append points of the polygon `internal` that are contained in the polygon `exernal`. +/// \brief Append points of the polygon `internal` that are contained in the polygon `external`. template < template class Iterable1T, template class Iterable2T, typename PointT> void append_contained_points( @@ -147,6 +147,9 @@ void append_intersection_points( std::min(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second)), std::max(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second))}; + // cspell: ignore feps + // feps means "Float EPSilon" + // The accumulated floating point error depends on the magnitudes of each end of the // intervals. Hence the upper bound of the absolute magnitude should be taken into account // while computing the epsilon. @@ -274,7 +277,7 @@ std::list convex_polygon_intersection2d( /// \param polygon1 A convex polygon /// \param polygon2 A convex polygon /// \return (Intersection / Union) between two given polygons. -/// \throws std::domain_error If there is any inconsistency on the undderlying geometrical +/// \throws std::domain_error If there is any inconsistency on the underlying geometrical /// computation. template < template class Iterable1T, template class Iterable2T, typename PointT> diff --git a/common/autoware_auto_geometry/include/geometry/interval.hpp b/common/autoware_auto_geometry/include/geometry/interval.hpp index 10cab1a1d7b79..59c26f27cc454 100644 --- a/common/autoware_auto_geometry/include/geometry/interval.hpp +++ b/common/autoware_auto_geometry/include/geometry/interval.hpp @@ -256,8 +256,8 @@ bool Interval::abs_eq(const Interval & i1, const Interval & i2, const T & eps const auto both_non_empty = !Interval::empty(i1) && !Interval::empty(i2); const auto mins_equal = comp::abs_eq(Interval::min(i1), Interval::min(i2), eps); - const auto maxs_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps); - const auto both_non_empty_equal = both_non_empty && mins_equal && maxs_equal; + const auto maxes_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps); + const auto both_non_empty_equal = both_non_empty && mins_equal && maxes_equal; return both_empty || both_non_empty_equal; } @@ -286,7 +286,7 @@ bool Interval::bounds_valid(const Interval & i) { const auto is_ordered = (Interval::min(i) <= Interval::max(i)); - // Check for emptiness expicitly because it requires both bounds to be NaN + // Check for emptiness explicitly because it requires both bounds to be NaN return Interval::empty(i) || is_ordered; } diff --git a/common/autoware_auto_geometry/include/geometry/spatial_hash_config.hpp b/common/autoware_auto_geometry/include/geometry/spatial_hash_config.hpp index 227b4db7634cc..e118ec24c7759 100644 --- a/common/autoware_auto_geometry/include/geometry/spatial_hash_config.hpp +++ b/common/autoware_auto_geometry/include/geometry/spatial_hash_config.hpp @@ -52,7 +52,7 @@ namespace details { /// \brief Internal struct for packing three indices together /// -/// The use of this struct publically is a violation of our coding standards, but I claim it's +/// The use of this struct publicly is a violation of our coding standards, but I claim it's /// fine because (a) it's details, (b) it is literally three unrelated members packaged together. /// This type is needed for conceptual convenience so I don't have massive function parameter /// lists @@ -109,7 +109,9 @@ class GEOMETRY_PUBLIC Config : public autoware::common::helper_functions::crtp::epsilon(); // lint -e{1938} read only access is fine NOLINT m_max_x -= FEPS; @@ -134,17 +136,17 @@ class GEOMETRY_PUBLIC Config : public autoware::common::helper_functions::crtp(std::ceil(radius / m_side_length)); + const Index i_radius = static_cast(std::ceil(radius / m_side_length)); // Dumb ternary because potentially unsigned Index type - const Index xmin = (ref.x > iradius) ? (ref.x - iradius) : 0U; - const Index ymin = (ref.y > iradius) ? (ref.y - iradius) : 0U; - const Index zmin = (ref.z > iradius) ? (ref.z - iradius) : 0U; + const Index x_min = (ref.x > i_radius) ? (ref.x - i_radius) : 0U; + const Index y_min = (ref.y > i_radius) ? (ref.y - i_radius) : 0U; + const Index z_min = (ref.z > i_radius) ? (ref.z - i_radius) : 0U; // In 2D mode, m_max_z should be 0, same with ref.z - const Index xmax = std::min(ref.x + iradius, m_max_x_idx); - const Index ymax = std::min(ref.y + iradius, m_max_y_idx); - const Index zmax = std::min(ref.z + iradius, m_max_z_idx); + const Index x_max = std::min(ref.x + i_radius, m_max_x_idx); + const Index y_max = std::min(ref.y + i_radius, m_max_y_idx); + const Index z_max = std::min(ref.z + i_radius, m_max_z_idx); // return bottom-left portion of cube and top-right portion of cube - return {{xmin, ymin, zmin}, {xmax, ymax, zmax}}; + return {{x_min, y_min, z_min}, {x_max, y_max, z_max}}; } /// \brief Get next index within a given range @@ -281,8 +283,8 @@ class GEOMETRY_PUBLIC Config : public autoware::common::helper_functions::crtp= query_idx) ? (ref_idx - query_idx) : (query_idx - ref_idx); - float32_t dist = static_cast(idist) - 1.0F; + const Index i_dist = (ref_idx >= query_idx) ? (ref_idx - query_idx) : (query_idx - ref_idx); + float32_t dist = static_cast(i_dist) - 1.0F; return std::max(dist, 0.0F); } @@ -302,8 +304,8 @@ class GEOMETRY_PUBLIC Config : public autoware::common::helper_functions::crtp(max); const float64_t dmin = static_cast(min); const float64_t width = (dmax - dmin) * static_cast(m_side_length_inv); - constexpr float64_t fltmax = static_cast(std::numeric_limits::max()); - if (fltmax <= width) { + constexpr float64_t flt_max = static_cast(std::numeric_limits::max()); + if (flt_max <= width) { throw std::domain_error("SpatialHash::Config: voxel size approaching floating point limit"); } return static_cast(width); diff --git a/common/autoware_auto_geometry/src/bounding_box.cpp b/common/autoware_auto_geometry/src/bounding_box.cpp index dd0ea45198878..225ea099e4e79 100644 --- a/common/autoware_auto_geometry/src/bounding_box.cpp +++ b/common/autoware_auto_geometry/src/bounding_box.cpp @@ -17,7 +17,9 @@ #include #include #include +// cspell: ignore eigenbox #include +// cspell: ignore lfit #include #include @@ -134,7 +136,7 @@ std::vector GEOMETRY_PUBLIC get_transformed_corners } // namespace details /////////////////////////////////////////////////////////////////////////////// -// precompilation +// pre-compilation using autoware::common::types::PointXYZIF; template BoundingBox minimum_area_bounding_box(std::list & list); template BoundingBox minimum_perimeter_bounding_box(std::list & list); diff --git a/common/autoware_auto_geometry/test/include/test_bounding_box.hpp b/common/autoware_auto_geometry/test/include/test_bounding_box.hpp index b1db855f59774..84fa359295613 100644 --- a/common/autoware_auto_geometry/test/include/test_bounding_box.hpp +++ b/common/autoware_auto_geometry/test/include/test_bounding_box.hpp @@ -18,6 +18,7 @@ #define TEST_BOUNDING_BOX_HPP_ #include "geometry/bounding_box/lfit.hpp" +// cspell: ignore lfit #include "geometry/bounding_box/rotating_calipers.hpp" #include @@ -52,6 +53,8 @@ class BoxTest : public ::testing::Test box = autoware::common::geometry::bounding_box::minimum_perimeter_bounding_box(points); // apex_test_tools::memory_test::stop(); } + + // cspell: ignore eigenbox template void eigenbox(const IT begin, const IT end) { @@ -128,7 +131,7 @@ using PointTypesBoundingBox = TYPED_TEST_SUITE(BoxTest, PointTypesBoundingBox, ); /// NOTE: This is the older version due to 1.8.0 of GTest. v1.8.1 uses TYPED_TEST_SUITE -// TODO(c.ho) consider typed and paremterized tests: +// TODO(c.ho) consider typed and parameterized tests: // https://stackoverflow.com/questions/3258230/passing-a-typename-and-string-to-parameterized-test-using-google-test /////////////////////////////////////////// diff --git a/common/autoware_auto_geometry/test/src/lookup_table.cpp b/common/autoware_auto_geometry/test/src/lookup_table.cpp index d9647a212bd61..e7533518d7f49 100644 --- a/common/autoware_auto_geometry/test/src/lookup_table.cpp +++ b/common/autoware_auto_geometry/test/src/lookup_table.cpp @@ -107,7 +107,7 @@ TYPED_TEST(SanityCheck, Exact) TYPED_TEST(SanityCheck, Interpolation) { const auto x = TypeParam{2}; - // Asssert x is not identically in domain_ + // Assert x is not identically in domain_ ASSERT_TRUE(this->not_in_domain(x)); const auto result = this->table_->lookup(x); this->check(result, TypeParam{3}); diff --git a/common/autoware_auto_geometry/test/src/test_area.cpp b/common/autoware_auto_geometry/test/src/test_area.cpp index 914f711ef8a7b..6710546fa73e9 100644 --- a/common/autoware_auto_geometry/test/src/test_area.cpp +++ b/common/autoware_auto_geometry/test/src/test_area.cpp @@ -79,7 +79,7 @@ TYPED_TEST(AreaTest, Triangle) EXPECT_FLOAT_EQ(2.0, this->area()); // A = (1/2) * b * h } -// Rectangle is easy to do computationall +// Rectangle is easy to do computational TYPED_TEST(AreaTest, Rectangle) { this->add_point(-5.0, -5.0); diff --git a/common/autoware_auto_geometry/test/src/test_common_2d.cpp b/common/autoware_auto_geometry/test/src/test_common_2d.cpp index e53c38d8b4335..642e396bdce31 100644 --- a/common/autoware_auto_geometry/test/src/test_common_2d.cpp +++ b/common/autoware_auto_geometry/test/src/test_common_2d.cpp @@ -188,7 +188,7 @@ TEST(ordered_check, basic) make_points(2.0, 1.0)}; EXPECT_FALSE(autoware::common::geometry::all_ordered(points_list.begin(), points_list.end())); - // Colinearity + // Collinearity points_list = { make_points(2.0, 2.0), make_points(4.0, 4.0), diff --git a/common/grid_map_utils/test/test_polygon_iterator.cpp b/common/grid_map_utils/test/test_polygon_iterator.cpp index 71a7e1db8d4f6..f39d080d7cad5 100644 --- a/common/grid_map_utils/test/test_polygon_iterator.cpp +++ b/common/grid_map_utils/test/test_polygon_iterator.cpp @@ -208,7 +208,7 @@ TEST(PolygonIterator, Difference) GridMap map({"layer"}); map.setGeometry(Length(5.0, 5.0), 1.0, Position(0.0, 0.0)); // bufferSize(8, 5) - // Triangle where the hypothenus is an exact diagonal of the map: difference. + // Triangle where the hypotenuse is an exact diagonal of the map: difference. Polygon polygon; polygon.addVertex(Position(2.5, 2.5)); polygon.addVertex(Position(-2.5, 2.5)); @@ -226,7 +226,7 @@ TEST(PolygonIterator, Difference) } EXPECT_TRUE(diff); - // Triangle where the hypothenus does not cross any cell center: no difference. + // Triangle where the hypotenuse does not cross any cell center: no difference. polygon.removeVertices(); polygon.addVertex(Position(2.5, 2.1)); polygon.addVertex(Position(-2.5, 2.5)); diff --git a/common/interpolation/src/spline_interpolation_points_2d.cpp b/common/interpolation/src/spline_interpolation_points_2d.cpp index 848d65dfae575..61c60df7a8984 100644 --- a/common/interpolation/src/spline_interpolation_points_2d.cpp +++ b/common/interpolation/src/spline_interpolation_points_2d.cpp @@ -59,7 +59,7 @@ std::array, 4> getBaseValues( // calculate base_keys, base_values if (base_x.size() < 2 || base_y.size() < 2 || base_z.size() < 2) { - throw std::logic_error("The numbef of unique points is not enough."); + throw std::logic_error("The number of unique points is not enough."); } const std::vector base_s = calcEuclidDist(base_x, base_y); diff --git a/common/signal_processing/documentation/ButterworthFilter.md b/common/signal_processing/documentation/ButterworthFilter.md index e29ce1f4cfb69..2eac82da83bac 100644 --- a/common/signal_processing/documentation/ButterworthFilter.md +++ b/common/signal_processing/documentation/ButterworthFilter.md @@ -118,6 +118,8 @@ At this step, we define a boolean variable whether to use the pre-warping option **References:** + + 1. Manolakis, Dimitris G., and Vinay K. Ingle. Applied digital signal processing: theory and practice. Cambridge University Press, 2011. diff --git a/common/signal_processing/src/butterworth.cpp b/common/signal_processing/src/butterworth.cpp index 3b4263461e9f6..88a8b6c194601 100644 --- a/common/signal_processing/src/butterworth.cpp +++ b/common/signal_processing/src/butterworth.cpp @@ -190,6 +190,7 @@ void ButterworthFilter::printContinuousTimeTF() const RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "[%s]", tf_text.c_str()); } +// cspell: ignore dend /** * @brief This method assumes the continuous time transfer function of filter has already been * computed and stored in the object and uses the bilinear transformation to obtain the discrete diff --git a/common/tensorrt_common/src/tensorrt_common.cpp b/common/tensorrt_common/src/tensorrt_common.cpp index 50028f51332e6..0b9ea27004cb1 100644 --- a/common/tensorrt_common/src/tensorrt_common.cpp +++ b/common/tensorrt_common/src/tensorrt_common.cpp @@ -39,6 +39,7 @@ TrtCommon::TrtCommon( { for (const auto & plugin_path : plugin_paths) { int32_t flags{RTLD_LAZY}; +// cspell: ignore asan #if ENABLE_ASAN // https://github.com/google/sanitizers/issues/89 // asan doesn't handle module unloading correctly and there are no plans on doing diff --git a/control/control_performance_analysis/README.md b/control/control_performance_analysis/README.md index 123b5976271cf..1fa87c2caf3a9 100644 --- a/control/control_performance_analysis/README.md +++ b/control/control_performance_analysis/README.md @@ -11,7 +11,9 @@ Based on the various input from planning, control, and vehicle, it publishes the All results in `ErrorStamped` message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below. -`Werling, Moritz & Groell, Lutz & Bretthauer, Georg. (2010). Invariant Trajectory Tracking With a Full-Size Autonomous Road Vehicle. Robotics, IEEE Transactions on. 26. 758 - 765. 10.1109/TRO.2010.2052325.` + + +`Werling, Moritz & Groell, Lutz & Bretthauer, Georg. (2010). Invariant Trajectory Tracking With a Full-Size Autonomous Road Vehicle. IEEE Transactions on Robotics. 26. 758 - 765. 10.1109/TRO.2010.2052325.` If you are interested in calculations, you can see the error and error velocity calculations in section `C. Asymptotical Trajectory Tracking With Orientation Control`. diff --git a/control/control_performance_analysis/config/controller_monitor.xml b/control/control_performance_analysis/config/controller_monitor.xml index e1a3bbc2bce80..c5189ccec4110 100644 --- a/control/control_performance_analysis/config/controller_monitor.xml +++ b/control/control_performance_analysis/config/controller_monitor.xml @@ -401,7 +401,7 @@ - + diff --git a/control/control_performance_analysis/src/control_performance_analysis_utils.cpp b/control/control_performance_analysis/src/control_performance_analysis_utils.cpp index ce11e10700487..423c71fb286fc 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_utils.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_utils.cpp @@ -40,11 +40,11 @@ double curvatureFromThreePoints( { double area = triangleArea(a, b, c); - double amag = std::hypot(a[0] - b[0], a[1] - b[1]); // magnitude of triangle edges - double bmag = std::hypot(b[0] - c[0], b[1] - c[1]); - double cmag = std::hypot(c[0] - a[0], c[1] - a[1]); + double a_mag = std::hypot(a[0] - b[0], a[1] - b[1]); // magnitude of triangle edges + double b_mag = std::hypot(b[0] - c[0], b[1] - c[1]); + double c_mag = std::hypot(c[0] - a[0], c[1] - a[1]); - double curvature = 4 * area / std::max(amag * bmag * cmag, 1e-4); + double curvature = 4 * area / std::max(a_mag * b_mag * c_mag, 1e-4); return curvature; } diff --git a/control/mpc_lateral_controller/README.md b/control/mpc_lateral_controller/README.md index 7596f753c5edc..efd6480e214e1 100644 --- a/control/mpc_lateral_controller/README.md +++ b/control/mpc_lateral_controller/README.md @@ -31,6 +31,8 @@ Different vehicle models are implemented: For the optimization, a Quadratic Programming (QP) solver is used and two options are currently implemented: + + - unconstraint_fast : use least square method to solve unconstraint QP with eigen. - [osqp](https://osqp.org/): run the [following ADMM](https://web.stanford.edu/~boyd/papers/admm_distr_stats.html) algorithm (for more details see the related papers at the [Citing OSQP](https://web.stanford.edu/~boyd/papers/admm_distr_stats.html) section): diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp index e9a8e50318757..2e7837dc6bbe1 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_trajectory.hpp @@ -58,7 +58,7 @@ class MPCTrajectory */ size_t size() const; /** - * @return true if the compensents sizes are all 0 or are inconsistent + * @return true if the components sizes are all 0 or are inconsistent */ inline bool empty() const { return size() == 0; } diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp index b7d35eca6cbe5..d9fce24f4185f 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_utils.hpp @@ -84,7 +84,7 @@ bool convertToAutowareTrajectory( /** * @brief calculate the arc length at each point of the given trajectory * @param [in] trajectory trajectory for which to calculate the arc length - * @param [out] arclength the cummulative arc length at each point of the trajectory + * @param [out] arclength the cumulative arc length at each point of the trajectory */ void calcMPCTrajectoryArclength(const MPCTrajectory & trajectory, std::vector * arclength); /** diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp index cb4f92c0c6774..a189ecc2ea7c8 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/qp_solver/qp_solver_interface.hpp @@ -41,7 +41,7 @@ class QPSolverInterface * @param [in] lb_a parameter matrix for constraint lb_a < a*u < ub_a * @param [in] ub_a parameter matrix for constraint lb_a < a*u < ub_a * @param [out] u optimal variable vector - * @return ture if the problem was solved + * @return true if the problem was solved */ virtual bool solve( const Eigen::MatrixXd & h_mat, const Eigen::MatrixXd & f_vec, const Eigen::MatrixXd & a, diff --git a/control/mpc_lateral_controller/test/test_interpolate.cpp b/control/mpc_lateral_controller/test/test_interpolate.cpp index 97b2d28205ee4..d9be96b0ef419 100644 --- a/control/mpc_lateral_controller/test/test_interpolate.cpp +++ b/control/mpc_lateral_controller/test/test_interpolate.cpp @@ -78,7 +78,7 @@ TEST(TestInterpolate, Failure) ASSERT_FALSE( linearInterpolate({1.0, 2.0, 2.5, 3.0}, {1.0, 2.0, 3.0, 4.0}, {1.0, 3.5}, target_values)); - // Missmatched inputs + // Mismatched inputs ASSERT_FALSE(linearInterpolate({1.0, 2.0, 2.5, 3.0}, {1.0, 2.0, 3.0}, {1.0, 1.5}, target_values)); ASSERT_FALSE(linearInterpolate({1.0, 2.0, 3.0}, {1.0, 2.0, 3.0, 4.0}, {1.0, 1.5}, target_values)); diff --git a/control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp b/control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp index 5441eaa200ac2..a5b1e17ed983f 100644 --- a/control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp +++ b/control/pure_pursuit/include/pure_pursuit/util/planning_utils.hpp @@ -79,6 +79,7 @@ bool isDirectionForward( bool isDirectionForward( const geometry_msgs::msg::Pose & prev, const geometry_msgs::msg::Point & next); +// cspell: ignore pointinpoly // refer from apache's pointinpoly in http://www.visibone.com/inpoly/ template bool isInPolygon(const std::vector & polygon, const T & point) diff --git a/control/trajectory_follower_base/include/trajectory_follower_base/longitudinal_controller_base.hpp b/control/trajectory_follower_base/include/trajectory_follower_base/longitudinal_controller_base.hpp index 2c2fe2199f007..0f9c0d57bb5cd 100644 --- a/control/trajectory_follower_base/include/trajectory_follower_base/longitudinal_controller_base.hpp +++ b/control/trajectory_follower_base/include/trajectory_follower_base/longitudinal_controller_base.hpp @@ -36,8 +36,8 @@ class LongitudinalControllerBase virtual bool isReady(const InputData & input_data) = 0; virtual LongitudinalOutput run(InputData const & input_data) = 0; void sync(LateralSyncData const & lateral_sync_data); - // NOTE: This reset function should be called when the trajectory is replaned by changing ego pose - // or goal pose. + // NOTE: This reset function should be called when the trajectory is replanned by changing ego + // pose or goal pose. void reset(); protected: diff --git a/localization/ekf_localizer/README.md b/localization/ekf_localizer/README.md index f77e9b263a389..bdcc7ac486cd0 100644 --- a/localization/ekf_localizer/README.md +++ b/localization/ekf_localizer/README.md @@ -164,7 +164,7 @@ Increasing the number will improve the smoothness of the estimation, but may hav - `proc_stddev_vx_c` : set to maximum linear acceleration - `proc_stddev_wz_c` : set to maximum angular acceleration -- `proc_stddev_yaw_c` : This parameter describes the correlation between the yaw and yawrate. A large value means the change in yaw does not correlate to the estimated yawrate. If this is set to 0, it means the change in estimated yaw is equal to yawrate. Usually, this should be set to 0. +- `proc_stddev_yaw_c` : This parameter describes the correlation between the yaw and yaw rate. A large value means the change in yaw does not correlate to the estimated yaw rate. If this is set to 0, it means the change in estimated yaw is equal to yaw rate. Usually, this should be set to 0. - `proc_stddev_yaw_bias_c` : This parameter is the standard deviation for the rate of change in yaw bias. In most cases, yaw bias is constant, so it can be very small, but must be non-zero. ## Kalman Filter Model diff --git a/localization/ndt_scan_matcher/README.md b/localization/ndt_scan_matcher/README.md index 7c63785aebcd2..14d3c9e8cca84 100644 --- a/localization/ndt_scan_matcher/README.md +++ b/localization/ndt_scan_matcher/README.md @@ -241,6 +241,8 @@ This is a function that using de-grounded LiDAR scan estimate scan matching scor ### Parameters + + | Name | Type | Description | | ------------------------------------- | ------ | ------------------------------------------------------------------------------------- | | `estimate_scores_for_degrounded_scan` | bool | Flag for using scan matching score based on de-grounded LiDAR scan (FALSE by default) | diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml index 56c5baa347aaa..a5d8142b6616e 100644 --- a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml +++ b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml @@ -73,6 +73,7 @@ # Radius of input LiDAR range (used for diagnostics of dynamic map loading) lidar_radius: 100.0 + # cspell: ignore degrounded # A flag for using scan matching score based on de-grounded LiDAR scan estimate_scores_for_degrounded_scan: false diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 1bd7a509a3a7b..7c9dab4c8103b 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -203,6 +203,7 @@ class NDTScanMatcher : public rclcpp::Node std::unique_ptr pose_init_module_; std::unique_ptr map_update_module_; + // cspell: ignore degrounded bool estimate_scores_for_degrounded_scan_; double z_margin_for_ground_removal_; }; diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index a9c37d7843a64..32a286a55ef37 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -77,6 +77,7 @@ bool validate_local_optimal_solution_oscillation( return false; } +// cspell: ignore degrounded NDTScanMatcher::NDTScanMatcher() : Node("ndt_scan_matcher"), tf2_broadcaster_(*this), diff --git a/map/map_tf_generator/test/test_uniform_random.cpp b/map/map_tf_generator/test/test_uniform_random.cpp index 76ee174a34871..455edc2d5dfd2 100644 --- a/map/map_tf_generator/test/test_uniform_random.cpp +++ b/map/map_tf_generator/test/test_uniform_random.cpp @@ -29,7 +29,7 @@ TEST(UniformRandom, UniformRandom) } // checks if the returned values are in range of [min, max) - // note that the minimun range is always zero and the max value is exclusive + // note that the minimum range is always zero and the max value is exclusive { const size_t min_inclusive = 0; const size_t max_exclusive = 4; diff --git a/perception/elevation_map_loader/README.md b/perception/elevation_map_loader/README.md index 7bfdf5729127c..e9288c2f474a1 100644 --- a/perception/elevation_map_loader/README.md +++ b/perception/elevation_map_loader/README.md @@ -103,7 +103,7 @@ See f | Name | Type | Description | Default value | | :--------------------------------------------------------- | :---- | :----------------------------------------------------------------------------- | :------------ | | pcl_grid_map_extraction/outlier_removal/is_remove_outliers | float | Whether to perform statistical outlier removal. | false | -| pcl_grid_map_extraction/outlier_removal/mean_K | float | Number of neighbours to analyze for estimating statistics of a point. | 10 | +| pcl_grid_map_extraction/outlier_removal/mean_K | float | Number of neighbors to analyze for estimating statistics of a point. | 10 | | pcl_grid_map_extraction/outlier_removal/stddev_threshold | float | Number of standard deviations under which points are considered to be inliers. | 1.0 | #### Subsampling parameters diff --git a/perception/ground_segmentation/include/ground_segmentation/gencolors.hpp b/perception/ground_segmentation/include/ground_segmentation/gencolors.hpp index 0adefe0984347..07637b1514b09 100644 --- a/perception/ground_segmentation/include/ground_segmentation/gencolors.hpp +++ b/perception/ground_segmentation/include/ground_segmentation/gencolors.hpp @@ -97,6 +97,8 @@ inline static void downsamplePoints(const Mat & src, Mat & dst, size_t count) dst.at>(0) = src.at>(maxLoc.x); dst.at>(1) = src.at>(maxLoc.y); + // ignore cspell error due to the source from OpenCV + // cspell: ignore actived Dists randu Mat activedDists(0, dists.cols, dists.type()); Mat candidatePointsMask(1, dists.cols, CV_8UC1, Scalar(255)); activedDists.push_back(dists.row(maxLoc.y)); diff --git a/perception/heatmap_visualizer/include/heatmap_visualizer/heatmap_visualizer_node.hpp b/perception/heatmap_visualizer/include/heatmap_visualizer/heatmap_visualizer_node.hpp index 4b11db83ad668..508ce238b51f1 100644 --- a/perception/heatmap_visualizer/include/heatmap_visualizer/heatmap_visualizer_node.hpp +++ b/perception/heatmap_visualizer/include/heatmap_visualizer/heatmap_visualizer_node.hpp @@ -64,7 +64,7 @@ class HeatmapVisualizerNode : public rclcpp::Node float map_length_; float map_resolution_; bool use_confidence_; - std::vector class_names_{"UNKNWON", "CAR", "TRUCK", "BUS", + std::vector class_names_{"UNKNOWN", "CAR", "TRUCK", "BUS", "TRAILER", "BICYCLE", "MOTORBIKE", "PEDESTRIAN"}; bool rename_car_to_truck_and_bus_; diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml index 65d2fe5cc849d..700724a817ceb 100755 --- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml +++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: class_names: ["CAR", "PEDESTRIAN", "BICYCLE"] - point_feature_size: 7 # x, y, z, timelag and car, pedestrian, bicycle + point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle max_voxel_size: 40000 point_cloud_range: [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0] voxel_size: [0.32, 0.32, 8.0] diff --git a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md index 0d5c9a280cca5..b15a7c5fef9de 100644 --- a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md +++ b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md @@ -72,8 +72,12 @@ Example: ## References/External links + + [1] Vora, Sourabh, et al. "PointPainting: Sequential fusion for 3d object detection." Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition. 2020. + + [2] CVPR'20 Workshop on Scalability in Autonomous Driving] Waymo Open Dataset Challenge: Ding, Zhuangzhuang, et al. "1st Place Solution for Waymo Open Dataset Challenge--3D Detection and Domain Adaptation." arXiv preprint arXiv:2006.15505 (2020). diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp index bf704b0a9311d..4b33783653708 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp @@ -40,6 +40,8 @@ #include #include +// cspell: ignore minx, maxx, miny, maxy, minz, maxz + namespace image_projection_based_fusion { using autoware_auto_perception_msgs::msg::DetectedObject; @@ -109,7 +111,7 @@ class FusionNode : public rclcpp::Node // cache for fusion std::vector is_fused_; - std::pair sub_stdpair_; + std::pair sub_std_pair_; std::vector> roi_stdmap_; std::mutex mutex_; @@ -119,6 +121,7 @@ class FusionNode : public rclcpp::Node // debugger std::shared_ptr debugger_; virtual bool out_of_scope(const ObjType & obj) = 0; + // cspell: ignore minx, maxx, miny, maxy, minz, maxz float filter_scope_minx_; float filter_scope_maxx_; float filter_scope_miny_; diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index 2848a16c33af1..2bf9af331ca45 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -26,6 +26,7 @@ + diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index 72a36b0afcc6a..656adaac252fc 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -115,7 +115,8 @@ FusionNode::FusionNode( stop_watch_ptr_->tic("cyclic_time"); stop_watch_ptr_->tic("processing_time"); } - + // cspell: ignore minx, maxx, miny, maxy, minz, maxz + // FIXME: use min_x instead of minx filter_scope_minx_ = declare_parameter("filter_scope_minx", -100); filter_scope_maxx_ = declare_parameter("filter_scope_maxx", 100); filter_scope_miny_ = declare_parameter("filter_scope_miny", -100); @@ -160,7 +161,7 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ int64_t timestamp_nsec = (*output_msg).header.stamp.sec * (int64_t)1e9 + (*output_msg).header.stamp.nanosec; - // if matching rois exist, fuseonsingle + // if matching rois exist, fuseOnSingle for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) { if (camera_info_map_.find(roi_i) == camera_info_map_.end()) { RCLCPP_WARN(this->get_logger(), "no camera info. id is %zu", roi_i); @@ -173,13 +174,13 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ std::list outdate_stamps; for (const auto & [k, v] : roi_stdmap_.at(roi_i)) { - int64_t newstamp = timestamp_nsec + input_offset_ms_.at(roi_i) * (int64_t)1e6; - int64_t interval = abs(int64_t(k) - newstamp); + int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * (int64_t)1e6; + int64_t interval = abs(int64_t(k) - new_stamp); if (interval <= min_interval && interval <= match_threshold_ms_ * (int64_t)1e6) { min_interval = interval; matched_stamp = k; - } else if (int64_t(k) < newstamp && interval > match_threshold_ms_ * (int64_t)1e6) { + } else if (int64_t(k) < new_stamp && interval > match_threshold_ms_ * (int64_t)1e6) { outdate_stamps.push_back(int64_t(k)); } } @@ -189,7 +190,7 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ (roi_stdmap_.at(roi_i)).erase(stamp); } - // fuseonSingle + // fuseOnSingle if (matched_stamp != -1) { if (debugger_) { debugger_->clear(); @@ -232,10 +233,10 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ "debug/processing_time_ms", processing_time_ms); } } else { - if (sub_stdpair_.second != nullptr) { + if (sub_std_pair_.second != nullptr) { timer_->cancel(); - postprocess(*(sub_stdpair_.second)); - publish(*(sub_stdpair_.second)); + postprocess(*(sub_std_pair_.second)); + publish(*(sub_std_pair_.second)); std::fill(is_fused_.begin(), is_fused_.end(), false); // add processing time for debug @@ -249,8 +250,8 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ } } - sub_stdpair_.first = int64_t(timestamp_nsec); - sub_stdpair_.second = output_msg; + sub_std_pair_.first = int64_t(timestamp_nsec); + sub_std_pair_.second = output_msg; } } @@ -262,9 +263,9 @@ void FusionNode::roiCallback( (*input_roi_msg).header.stamp.sec * (int64_t)1e9 + (*input_roi_msg).header.stamp.nanosec; // if cached Msg exist, try to match - if (sub_stdpair_.second != nullptr) { - int64_t newstamp = sub_stdpair_.first + input_offset_ms_.at(roi_i) * (int64_t)1e6; - int64_t interval = abs(timestamp_nsec - newstamp); + if (sub_std_pair_.second != nullptr) { + int64_t new_stamp = sub_std_pair_.first + input_offset_ms_.at(roi_i) * (int64_t)1e6; + int64_t interval = abs(timestamp_nsec - new_stamp); if (interval < match_threshold_ms_ * (int64_t)1e6 && is_fused_.at(roi_i) == false) { if (camera_info_map_.find(roi_i) == camera_info_map_.end()) { @@ -277,12 +278,12 @@ void FusionNode::roiCallback( } fuseOnSingleImage( - *(sub_stdpair_.second), roi_i, *input_roi_msg, camera_info_map_.at(roi_i), - *(sub_stdpair_.second)); + *(sub_std_pair_.second), roi_i, *input_roi_msg, camera_info_map_.at(roi_i), + *(sub_std_pair_.second)); is_fused_.at(roi_i) = true; if (debug_publisher_) { - double timestamp_interval_ms = (timestamp_nsec - sub_stdpair_.first) / 1e6; + double timestamp_interval_ms = (timestamp_nsec - sub_std_pair_.first) / 1e6; debug_publisher_->publish( "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms); debug_publisher_->publish( @@ -292,10 +293,10 @@ void FusionNode::roiCallback( if (std::count(is_fused_.begin(), is_fused_.end(), true) == static_cast(rois_number_)) { timer_->cancel(); - postprocess(*(sub_stdpair_.second)); - publish(*(sub_stdpair_.second)); + postprocess(*(sub_std_pair_.second)); + publish(*(sub_std_pair_.second)); std::fill(is_fused_.begin(), is_fused_.end(), false); - sub_stdpair_.second = nullptr; + sub_std_pair_.second = nullptr; // add processing time for debug if (debug_publisher_) { @@ -324,12 +325,12 @@ void FusionNode::timer_callback() timer_->cancel(); if (mutex_.try_lock()) { // timeout, postprocess cached msg - if (sub_stdpair_.second != nullptr) { - postprocess(*(sub_stdpair_.second)); - publish(*(sub_stdpair_.second)); + if (sub_std_pair_.second != nullptr) { + postprocess(*(sub_std_pair_.second)); + publish(*(sub_std_pair_.second)); } std::fill(is_fused_.begin(), is_fused_.end(), false); - sub_stdpair_.second = nullptr; + sub_std_pair_.second = nullptr; // add processing time for debug if (debug_publisher_) { diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu index 678cf8a5febac..de590c5d91984 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/preprocess_kernel.cu @@ -39,6 +39,7 @@ const std::size_t MAX_POINT_IN_VOXEL_SIZE = 32; // the same as max_point_in_vox const std::size_t WARPS_PER_BLOCK = 4; const std::size_t ENCODER_IN_FEATURE_SIZE = 12; // same as encoder_in_feature_size_ in config.hpp +// cspell: ignore divup std::size_t divup(const std::size_t a, const std::size_t b) { if (a == 0) { diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp index 69e9bfd912745..d195f7870fc71 100755 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -46,7 +46,7 @@ std::size_t VoxelGenerator::pointsToVoxels( auto pc_msg = pc_cache_iter->pointcloud_msg; auto affine_past2current = pd_ptr_->getAffineWorldToCurrent() * pc_cache_iter->affine_past2world; - float timelag = static_cast( + float time_lag = static_cast( pd_ptr_->getCurrentTimestamp() - rclcpp::Time(pc_msg.header.stamp).seconds()); for (sensor_msgs::PointCloud2ConstIterator x_iter(pc_msg, "x"), y_iter(pc_msg, "y"), @@ -59,7 +59,7 @@ std::size_t VoxelGenerator::pointsToVoxels( point[0] = point_current.x(); point[1] = point_current.y(); point[2] = point_current.z(); - point[3] = timelag; + point[3] = time_lag; point[4] = *car_iter; point[5] = *ped_iter; point[6] = *bic_iter; diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index 717f21da21fc3..e15d47a01521c 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -28,6 +28,8 @@ #include #endif +// cspell: ignore minx, maxx, miny, maxy, minz, maxz + namespace image_projection_based_fusion { diff --git a/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp index 387dd08bc3c55..3781714d3cf71 100644 --- a/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp @@ -17,6 +17,8 @@ #include #include +// cspell: ignore minx, maxx, miny, maxy, minz, maxz + namespace image_projection_based_fusion { diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp index a58a1121fc4a6..363184ecacfa9 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp @@ -78,7 +78,7 @@ class CenterPointConfig // input params std::size_t class_size_{3}; const std::size_t point_dim_size_{3}; // x, y and z - std::size_t point_feature_size_{4}; // x, y, z and timelag + std::size_t point_feature_size_{4}; // x, y, z and time-lag std::size_t max_point_in_voxel_size_{32}; std::size_t max_voxel_size_{40000}; float range_min_x_{-89.6f}; diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp index 36849479a87ea..84462bc9657ac 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp @@ -35,6 +35,7 @@ struct Box3D float vel_y; }; +// cspell: ignore divup std::size_t divup(const std::size_t a, const std::size_t b); } // namespace centerpoint diff --git a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md index c78ac8d235b5d..69ef70be265ec 100644 --- a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md +++ b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md @@ -40,7 +40,7 @@ source install/setup.bash ros2 bag play /YOUR/ROSBAG/PATH/ --clock 100 ``` -Don't forget to add `clock` inorder to sync between two rviz display. +Don't forget to add `clock` in order to sync between two rviz display. You can also use the sample rosbag provided by autoware [here](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/). diff --git a/perception/lidar_centerpoint/lib/network/scatter_kernel.cu b/perception/lidar_centerpoint/lib/network/scatter_kernel.cu index cba72c2c37841..da2f0e2f57c15 100644 --- a/perception/lidar_centerpoint/lib/network/scatter_kernel.cu +++ b/perception/lidar_centerpoint/lib/network/scatter_kernel.cu @@ -48,6 +48,7 @@ __global__ void scatterFeatures_kernel( feature; } +// cspell: ignore divup cudaError_t scatterFeatures_launch( const float * pillar_features, const int * coords, const std::size_t num_pillars, const std::size_t max_voxel_size, const std::size_t encoder_out_feature_size, diff --git a/perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu b/perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu index 902c27fe8add1..398e75a55c44b 100644 --- a/perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu +++ b/perception/lidar_centerpoint/lib/postprocess/circle_nms_kernel.cu @@ -41,6 +41,7 @@ __device__ inline float dist2dPow(const Box3D * a, const Box3D * b) return powf(a->x - b->x, 2) + powf(a->y - b->y, 2); } +// cspell: ignore divup __global__ void circleNMS_Kernel( const Box3D * boxes, const std::size_t num_boxes3d, const std::size_t col_blocks, const float dist2d_pow_threshold, std::uint64_t * mask) diff --git a/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu b/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu index 8942bdd33ceb5..765f678784574 100644 --- a/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu +++ b/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu @@ -114,6 +114,7 @@ PostProcessCUDA::PostProcessCUDA(const CenterPointConfig & config) : config_(con config_.yaw_norm_thresholds_.begin(), config_.yaw_norm_thresholds_.end()); } +// cspell: ignore divup cudaError_t PostProcessCUDA::generateDetectedBoxes3D_launch( const float * out_heatmap, const float * out_offset, const float * out_z, const float * out_dim, const float * out_rot, const float * out_vel, std::vector & det_boxes3d, @@ -130,7 +131,7 @@ cudaError_t PostProcessCUDA::generateDetectedBoxes3D_launch( thrust::raw_pointer_cast(yaw_norm_thresholds_d_.data()), thrust::raw_pointer_cast(boxes3d_d_.data())); - // suppress by socre + // suppress by score const auto num_det_boxes3d = thrust::count_if( thrust::device, boxes3d_d_.begin(), boxes3d_d_.end(), is_score_greater(config_.score_threshold_)); diff --git a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu b/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu index b647a75504180..7b59757311ff2 100644 --- a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu +++ b/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu @@ -141,6 +141,7 @@ __global__ void generateFeatures_kernel( } } +// cspell: ignore divup cudaError_t generateFeatures_launch( const float * voxel_features, const float * voxel_num_points, const int * coords, const std::size_t num_voxels, const std::size_t max_voxel_size, const float voxel_size_x, diff --git a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp b/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp index 8f9be13d5cd45..7f4e4a849211c 100644 --- a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp +++ b/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp @@ -71,7 +71,7 @@ std::size_t VoxelGenerator::pointsToVoxels( pd_ptr_->pointcloud_cache_size() > 1 ? pd_ptr_->getAffineWorldToCurrent() * pc_cache_iter->affine_past2world : Eigen::Affine3f::Identity(); - float timelag = static_cast( + float time_lag = static_cast( pd_ptr_->getCurrentTimestamp() - rclcpp::Time(pc_msg.header.stamp).seconds()); for (sensor_msgs::PointCloud2ConstIterator x_iter(pc_msg, "x"), y_iter(pc_msg, "y"), @@ -83,7 +83,7 @@ std::size_t VoxelGenerator::pointsToVoxels( point[0] = point_current.x(); point[1] = point_current.y(); point[2] = point_current.z(); - point[3] = timelag; + point[3] = time_lag; out_of_range = false; for (std::size_t di = 0; di < config_.point_dim_size_; di++) { diff --git a/perception/lidar_centerpoint/lib/utils.cpp b/perception/lidar_centerpoint/lib/utils.cpp index 75508eb32af20..b6e0a54ab6de9 100644 --- a/perception/lidar_centerpoint/lib/utils.cpp +++ b/perception/lidar_centerpoint/lib/utils.cpp @@ -18,6 +18,7 @@ namespace centerpoint { +// cspell: ignore divup std::size_t divup(const std::size_t a, const std::size_t b) { if (a == 0) { diff --git a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/utils.hpp b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/utils.hpp index 7ff2c6eb612b0..259deef53f189 100644 --- a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/utils.hpp +++ b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/utils.hpp @@ -40,6 +40,7 @@ struct Box3D float vel_y; }; +// cspell: ignore divup std::size_t divup(const std::size_t a, const std::size_t b); } // namespace lidar_centerpoint_tvm diff --git a/perception/lidar_centerpoint_tvm/lib/postprocess/generate_detected_boxes.cpp b/perception/lidar_centerpoint_tvm/lib/postprocess/generate_detected_boxes.cpp index 93563555e03d5..405223c800eba 100644 --- a/perception/lidar_centerpoint_tvm/lib/postprocess/generate_detected_boxes.cpp +++ b/perception/lidar_centerpoint_tvm/lib/postprocess/generate_detected_boxes.cpp @@ -114,6 +114,7 @@ void generateBoxes3D_worker( } } +// cspell: ignore divup void generateDetectedBoxes3D( const std::vector & out_heatmap, const std::vector & out_offset, const std::vector & out_z, const std::vector & out_dim, @@ -135,7 +136,7 @@ void generateDetectedBoxes3D( threadPool[idx].join(); } - // suppress by socre + // suppress by score const auto num_det_boxes3d = std::count_if(boxes3d.begin(), boxes3d.end(), is_score_greater(config.score_threshold_)); if (num_det_boxes3d == 0) { @@ -150,17 +151,17 @@ void generateDetectedBoxes3D( // sort by score std::sort(det_boxes3d_nonms.begin(), det_boxes3d_nonms.end(), score_greater()); - // supress by NMS + // suppress by NMS std::vector final_keep_mask(num_det_boxes3d); const auto num_final_det_boxes3d = circleNMS(det_boxes3d_nonms, config.circle_nms_dist_threshold_, final_keep_mask); det_boxes3d.resize(num_final_det_boxes3d); - std::size_t boxid = 0; + std::size_t box_id = 0; for (std::size_t idx = 0; idx < final_keep_mask.size(); idx++) { if (final_keep_mask[idx]) { - det_boxes3d[boxid] = det_boxes3d_nonms[idx]; - boxid++; + det_boxes3d[box_id] = det_boxes3d_nonms[idx]; + box_id++; } } // std::copy_if(det_boxes3d_nonms.begin(), det_boxes3d_nonms.end(), final_keep_mask.begin(), diff --git a/perception/lidar_centerpoint_tvm/lib/preprocess/generate_features.cpp b/perception/lidar_centerpoint_tvm/lib/preprocess/generate_features.cpp index c095ff7311eb6..9b98adc2def4e 100644 --- a/perception/lidar_centerpoint_tvm/lib/preprocess/generate_features.cpp +++ b/perception/lidar_centerpoint_tvm/lib/preprocess/generate_features.cpp @@ -52,7 +52,7 @@ void generateFeatures_worker( pillar_idx * config.max_point_in_voxel_size_ * config.point_feature_size_ + i * config.point_feature_size_; for (std::size_t j = 0; j < config.point_feature_size_; j++) { - // point (x, y, z, instensity) + // point (x, y, z, intensity) if (i < points_count && j < 3) points_sum[j] += voxel_features[point_idx + j]; } } @@ -104,6 +104,7 @@ void generateFeatures_worker( } } +// cspell: ignore divup void generateFeatures( const std::vector & voxel_features, const std::vector & voxel_num_points, const std::vector & coords, const std::size_t num_voxels, diff --git a/perception/lidar_centerpoint_tvm/lib/utils.cpp b/perception/lidar_centerpoint_tvm/lib/utils.cpp index 146c47f05570c..caf9cb84fa1c7 100644 --- a/perception/lidar_centerpoint_tvm/lib/utils.cpp +++ b/perception/lidar_centerpoint_tvm/lib/utils.cpp @@ -23,6 +23,7 @@ namespace perception namespace lidar_centerpoint_tvm { +// cspell: ignore divup std::size_t divup(const std::size_t a, const std::size_t b) { if (a == 0) { diff --git a/perception/map_based_prediction/README.md b/perception/map_based_prediction/README.md index 20d76b3841f6d..043103e9c39d7 100644 --- a/perception/map_based_prediction/README.md +++ b/perception/map_based_prediction/README.md @@ -42,7 +42,7 @@ Search one or more lanelets satisfying the following conditions for each target - Create a reference path for the object from the associated lanelet. - Predict Object Maneuver - Generate predicted paths for the object. - - The probability is assigned to each maneuver of `Lane Follow`, `Left Lane Change`, and `Right Lane Chagne` based on the object history and the reference path obtained in the first step. + - The probability is assigned to each maneuver of `Lane Follow`, `Left Lane Change`, and `Right Lane Change` based on the object history and the reference path obtained in the first step. - The following information is used to determine the maneuver. - The distance between the current center of gravity of the object and the left and right boundaries of the lane - The lateral velocity (distance moved to the lateral direction in `t` seconds) diff --git a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp b/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp index 7544a204d3e8e..bc97c9ba92d7e 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp @@ -330,7 +330,7 @@ inline void convertConvexHullToBoundingBox( const Eigen::Vector2d new_local_center{(max_x + min_x) / 2.0, (max_y + min_y) / 2.0}; const Eigen::Vector2d new_center = center + Rinv.transpose() * new_local_center; - // set output paramters + // set output parameters output_object = input_object; output_object.kinematics.pose_with_covariance.pose.position.x = new_center.x(); output_object.kinematics.pose_with_covariance.pose.position.y = new_center.y(); diff --git a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg b/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg index f6714b4904813..b253222c7b311 100644 --- a/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg +++ b/perception/radar_fusion_to_detected_object/docs/radar_fusion_to_detected_object_5.drawio.svg @@ -187,7 +187,7 @@
- Delete obejct + Delete object
@@ -195,7 +195,7 @@
- Delete obejct + Delete object diff --git a/perception/tensorrt_yolox/README.md b/perception/tensorrt_yolox/README.md index aaf51198e4429..390d5a2198cb3 100644 --- a/perception/tensorrt_yolox/README.md +++ b/perception/tensorrt_yolox/README.md @@ -8,6 +8,8 @@ This package detects target objects e.g., cars, trucks, bicycles, and pedestrian ### Cite + + Zheng Ge, Songtao Liu, Feng Wang, Zeming Li, Jian Sun, "YOLOX: Exceeding YOLO Series in 2021", arXiv preprint arXiv:2107.08430, 2021 [[ref](https://arxiv.org/abs/2107.08430)] ## Inputs / Outputs diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp index 7f0f64dc89f67..8ee0c8e1ed59e 100644 --- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp +++ b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox.hpp @@ -74,7 +74,7 @@ class TrtYoloX void generateYoloxProposals( std::vector grid_strides, float * feat_blob, float prob_threshold, ObjectArray & objects) const; - void qsortDescentInplace(ObjectArray & faceobjects, int left, int right) const; + void qsortDescentInplace(ObjectArray & face_objects, int left, int right) const; inline void qsortDescentInplace(ObjectArray & objects) const { if (objects.empty()) { @@ -89,8 +89,9 @@ class TrtYoloX cv::Rect_ inter = a_rect & b_rect; return inter.area(); } + // cspell: ignore Bboxes void nmsSortedBboxes( - const ObjectArray & faceobjects, std::vector & picked, float nms_threshold) const; + const ObjectArray & face_objects, std::vector & picked, float nms_threshold) const; std::unique_ptr trt_common_; diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp index 191a3832d028d..e940679c9c58d 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp @@ -61,7 +61,7 @@ TrtYoloX::TrtYoloX( break; default: std::stringstream s; - s << "\"" << model_path << "\" is unsuppoerted format"; + s << "\"" << model_path << "\" is unsupported format"; std::runtime_error{s.str()}; } @@ -227,6 +227,7 @@ void TrtYoloX::decodeOutputs( qsortDescentInplace(proposals); std::vector picked; + // cspell: ignore Bboxes nmsSortedBboxes(proposals, picked, nms_threshold_); int count = static_cast(picked.size()); @@ -310,24 +311,24 @@ void TrtYoloX::generateYoloxProposals( } // point anchor loop } -void TrtYoloX::qsortDescentInplace(ObjectArray & faceobjects, int left, int right) const +void TrtYoloX::qsortDescentInplace(ObjectArray & face_objects, int left, int right) const { int i = left; int j = right; - float p = faceobjects[(left + right) / 2].score; + float p = face_objects[(left + right) / 2].score; while (i <= j) { - while (faceobjects[i].score > p) { + while (face_objects[i].score > p) { i++; } - while (faceobjects[j].score < p) { + while (face_objects[j].score < p) { j--; } if (i <= j) { // swap - std::swap(faceobjects[i], faceobjects[j]); + std::swap(face_objects[i], face_objects[j]); i++; j--; @@ -339,38 +340,38 @@ void TrtYoloX::qsortDescentInplace(ObjectArray & faceobjects, int left, int righ #pragma omp section { if (left < j) { - qsortDescentInplace(faceobjects, left, j); + qsortDescentInplace(face_objects, left, j); } } #pragma omp section { if (i < right) { - qsortDescentInplace(faceobjects, i, right); + qsortDescentInplace(face_objects, i, right); } } } } void TrtYoloX::nmsSortedBboxes( - const ObjectArray & faceobjects, std::vector & picked, float nms_threshold) const + const ObjectArray & face_objects, std::vector & picked, float nms_threshold) const { picked.clear(); - const int n = faceobjects.size(); + const int n = face_objects.size(); std::vector areas(n); for (int i = 0; i < n; i++) { cv::Rect rect( - faceobjects[i].x_offset, faceobjects[i].y_offset, faceobjects[i].width, - faceobjects[i].height); + face_objects[i].x_offset, face_objects[i].y_offset, face_objects[i].width, + face_objects[i].height); areas[i] = rect.area(); } for (int i = 0; i < n; i++) { - const Object & a = faceobjects[i]; + const Object & a = face_objects[i]; int keep = 1; for (int j = 0; j < static_cast(picked.size()); j++) { - const Object & b = faceobjects[picked[j]]; + const Object & b = face_objects[picked[j]]; // intersection over union float inter_area = intersectionArea(a, b); diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 527bb50c5dabf..848aaf8c8d38c 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -2568,7 +2568,7 @@ ObjectDataArray AvoidanceModule::getAdjacentLaneObjects( // TODO(murooka) judge when and which way to extend drivable area. current implementation is keep // extending during avoidance module -// TODO(murooka) freespace during turning in intersection where there is no neighbour lanes +// TODO(murooka) freespace during turning in intersection where there is no neighbor lanes // NOTE: Assume that there is no situation where there is an object in the middle lane of more than // two lanes since which way to avoid is not obvious void AvoidanceModule::generateExtendedDrivableArea(PathWithLaneId & path) const @@ -2642,7 +2642,7 @@ void AvoidanceModule::generateExtendedDrivableArea(PathWithLaneId & path) const const auto next_lanes_for_left = get_next_lanes_from_same_previous_lane(current_drivable_lanes.left_lane); - // 2.2 look for neighbour lane recursively, where end line of the lane is connected to end line + // 2.2 look for neighbor lane recursively, where end line of the lane is connected to end line // of the original lane const auto update_drivable_lanes = [&](const lanelet::ConstLanelets & next_lanes, const bool is_left) { diff --git a/planning/behavior_velocity_planner/crosswalk-design.md b/planning/behavior_velocity_planner/crosswalk-design.md index 4897737b98c0c..19fa4a5ec5da1 100644 --- a/planning/behavior_velocity_planner/crosswalk-design.md +++ b/planning/behavior_velocity_planner/crosswalk-design.md @@ -175,7 +175,7 @@ This module uses the larger value of estimated object velocity and `min_object_v ```plantuml start -if (Pedestrain's traffic light signal is **RED**?) then (yes) +if (Pedestrian's traffic light signal is **RED**?) then (yes) else (no) if (There are objects around the crosswalk?) then (yes) :calculate TTC & TTV; diff --git a/planning/behavior_velocity_planner/docs/crosswalk/limitation.svg b/planning/behavior_velocity_planner/docs/crosswalk/limitation.svg index b959328e63330..3e507c0669a2b 100644 --- a/planning/behavior_velocity_planner/docs/crosswalk/limitation.svg +++ b/planning/behavior_velocity_planner/docs/crosswalk/limitation.svg @@ -142,12 +142,12 @@
- The pedestrain has no intention to cross via this route. + The pedestrian has no intention to cross via this route.
- The pedestrain has no intent... + The pedestrian has no intent... diff --git a/planning/freespace_planner/README.md b/planning/freespace_planner/README.md index df834305519eb..b40f2681dce51 100644 --- a/planning/freespace_planner/README.md +++ b/planning/freespace_planner/README.md @@ -79,12 +79,14 @@ None #### RRT\* search parameters + + | Parameter | Type | Description | | ----------------------- | ------ | ----------------------------------------------------------------------------- | | `max planning time` | double | maximum planning time [msec] (used only when `enable_update` is set `true`) | | `enable_update` | bool | whether update after feasible solution found until `max_planning time` elapse | -| `use_informed_sampling` | bool | Use informed RRT\* (of Gammmell et al.) | -| `neighbour_radius` | double | neighbour radius of RRT\* algorithm | +| `use_informed_sampling` | bool | Use informed RRT\* (of Gammell et al.) | +| `neighbor_radius` | double | neighbor radius of RRT\* algorithm | | `margin` | double | safety margin ensured in path's collision checking in RRT\* algorithm | ### Flowchart diff --git a/planning/freespace_planning_algorithms/README.md b/planning/freespace_planning_algorithms/README.md index ef0c2a3aca384..0084f4c296547 100644 --- a/planning/freespace_planning_algorithms/README.md +++ b/planning/freespace_planning_algorithms/README.md @@ -10,10 +10,12 @@ This package is for development of path planning algorithms in free space. Please see [rrtstar.md](rrtstar.md) for a note on the implementation for informed-RRT\*. + + NOTE: As for RRT\*, one can choose whether update after feasible solution found in RRT\*. If not doing so, the algorithm is the almost (but exactly because of rewiring procedure) same as vanilla RRT. If you choose update, then you have option if the sampling after feasible solution found is "informed". -If set true, then the algorithm is equivalent to `informed RRT\* of Gammmell et al. 2014`. +If set true, then the algorithm is equivalent to `informed RRT\* of Gammell et al. 2014`. ## Algorithm selection diff --git a/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp b/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp index 6b3b967760e45..eb091b9066bff 100644 --- a/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp +++ b/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp @@ -30,7 +30,7 @@ struct RRTStarParam bool enable_update; // update solution even after feasible solution found with given time budget bool use_informed_sampling; // use informed sampling (informed rrtstar) double max_planning_time; // if enable_update is true, update is done before time elapsed [msec] - double neighbour_radius; // neighbore radius [m] + double neighbor_radius; // neighbor radius [m] double margin; // [m] }; @@ -61,7 +61,7 @@ class RRTStar : public AbstractPlanningAlgorithm bool hasObstacleOnTrajectory(const geometry_msgs::msg::PoseArray & trajectory) const override; private: - void setRRTPath(const std::vector & waypints); + void setRRTPath(const std::vector & waypoints); // algorithm specific param const RRTStarParam rrtstar_param_; diff --git a/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar_core.hpp b/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar_core.hpp index b0ad43dbf3494..dcaeba804944c 100644 --- a/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar_core.hpp +++ b/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar_core.hpp @@ -38,6 +38,7 @@ using Pose = freespace_planning_algorithms::ReedsSheppStateSpace::StateXYT; using ReedsSheppStateSpace = freespace_planning_algorithms::ReedsSheppStateSpace; const double inf = std::numeric_limits::infinity(); +// cspell: ignore rsspace class CSpace { public: @@ -59,7 +60,7 @@ class CSpace // Note that parent-to-child and child-to-parent reeds-shepp paths are sometimes // different, because there may two reeds-shepp paths with an exact same cost given two poses. // For example, say you want to compute a reeds-shepp path from [0, 0, 0] to [0, 1, 0], where - // each element indicate x, y, and yaw. In such a case, you will have symetric two reeds-sheep + // each element indicate x, y, and yaw. In such a case, you will have symmetric two reeds-sheep // paths, one of which starts moving with forward motion and // the other of which with backward motion. // So, due to floating point level difference, the resulting reeds-shepp path can be different. @@ -137,15 +138,15 @@ class RRTStar private: NodeConstSharedPtr findNearestNode(const Pose & x_rand) const; - std::vector findNeighboreNodes(const Pose & pose) const; + std::vector findNeighborNodes(const Pose & pose) const; NodeSharedPtr addNewNode(const Pose & pose, NodeSharedPtr node_parent); NodeConstSharedPtr getBestParentNode( const Pose & pose_new, const NodeConstSharedPtr & node_nearest, - const std::vector & neighbore_nodes) const; + const std::vector & neighbor_nodes) const; void reconnect(const NodeSharedPtr & node_new, const NodeSharedPtr & node_reconnect); NodeConstSharedPtr getReconnectTargeNode( const NodeConstSharedPtr node_new, - const std::vector & neighbore_nodes) const; + const std::vector & neighbor_nodes) const; NodeSharedPtr node_start_; NodeSharedPtr node_goal_; diff --git a/planning/freespace_planning_algorithms/rrtstar.md b/planning/freespace_planning_algorithms/rrtstar.md index d48c065ee9574..8f64fe757bc2f 100644 --- a/planning/freespace_planning_algorithms/rrtstar.md +++ b/planning/freespace_planning_algorithms/rrtstar.md @@ -4,9 +4,11 @@ Let us define $f(x)$ as minimum cost of the path when path is constrained to pass through $x$ (so path will be $x_{\mathrm{start}} \to \mathrm{x} \to \mathrm{x_{\mathrm{goal}}}$). Also, let us define $c_{\mathrm{best}}$ as the current minimum cost of the feasible paths. Let us define a set $ X(f) = \left\{ x \in X | f(x) < c*{\mathrm{best}} \right\} $. If we could sample a new point from $X_f$ instead of $X$ as in vanilla RRT\*, chance that $c*{\mathrm{best}}$ is updated is increased, thus the convergence rate is improved. -In most case, $f(x)$ is unknown, thus it is straightforward to approximiate the function $f$ by a heuristic function $\hat{f}$. A heuristic function is [admissible](https://en.wikipedia.org/wiki/Admissible_heuristic) if $\forall x \in X, \hat{f}(x) < f(x)$, which is sufficient condition of conversion to optimal path. The good heuristic function $\hat{f}$ has two properties: 1) it is an admissible tight lower bound of $f$ and 2) sampling from $X(\hat{f})$ is easy. +In most case, $f(x)$ is unknown, thus it is straightforward to approximate the function $f$ by a heuristic function $\hat{f}$. A heuristic function is [admissible](https://en.wikipedia.org/wiki/Admissible_heuristic) if $\forall x \in X, \hat{f}(x) < f(x)$, which is sufficient condition of conversion to optimal path. The good heuristic function $\hat{f}$ has two properties: 1) it is an admissible tight lower bound of $f$ and 2) sampling from $X(\hat{f})$ is easy. -According to Gammell et al [1], a good heursitic function when path is always straight is $\hat{f}(x) = ||x_{\mathrm{start}} - x|| + ||x - x_{\mathrm{goal}}||$. If we don't assume any obstacle information the heursitic is tightest. Also, $X(\hat{f})$ is hyper-ellipsoid, and hence sampling from it can be done analitically. + + +According to Gammell et al [1], a good heuristic function when path is always straight is $\hat{f}(x) = ||x_{\mathrm{start}} - x|| + ||x - x_{\mathrm{goal}}||$. If we don't assume any obstacle information the heuristic is tightest. Also, $X(\hat{f})$ is hyper-ellipsoid, and hence sampling from it can be done analytically. ### Modification to fit reeds-sheep path case diff --git a/planning/freespace_planning_algorithms/src/rrtstar.cpp b/planning/freespace_planning_algorithms/src/rrtstar.cpp index f03dc81faba05..1607451173f9f 100644 --- a/planning/freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/freespace_planning_algorithms/src/rrtstar.cpp @@ -17,7 +17,7 @@ namespace { -rrtstar_core::Pose posemsgToPose(const geometry_msgs::msg::Pose & pose_msg) +rrtstar_core::Pose poseMsgToPose(const geometry_msgs::msg::Pose & pose_msg) { return rrtstar_core::Pose{ pose_msg.position.x, pose_msg.position.y, tf2::getYaw(pose_msg.orientation)}; @@ -68,8 +68,8 @@ bool RRTStar::makePlan( M_PI}; const double radius = planner_common_param_.minimum_turning_radius; const auto cspace = rrtstar_core::CSpace(lo, hi, radius, is_obstacle_free); - const auto x_start = posemsgToPose(start_pose_); - const auto x_goal = posemsgToPose(goal_pose_); + const auto x_start = poseMsgToPose(start_pose_); + const auto x_goal = poseMsgToPose(goal_pose_); if (!is_obstacle_free(x_start)) { return false; @@ -82,7 +82,7 @@ bool RRTStar::makePlan( const bool is_informed = rrtstar_param_.use_informed_sampling; // always better const double collision_check_resolution = rrtstar_param_.margin * 2; auto algo = rrtstar_core::RRTStar( - x_start, x_goal, rrtstar_param_.neighbour_radius, collision_check_resolution, is_informed, + x_start, x_goal, rrtstar_param_.neighbor_radius, collision_check_resolution, is_informed, cspace); while (true) { const rclcpp::Time now = rclcpp::Clock(RCL_ROS_TIME).now(); @@ -153,15 +153,15 @@ void RRTStar::setRRTPath(const std::vector & waypoints) if (0 == i) { const auto & pt_now = waypoints.at(i); const auto & pt_next = waypoints.at(i + 1); - const double inpro = + const double inner_product = cos(pt_now.yaw) * (pt_next.x - pt_now.x) + sin(pt_now.yaw) * (pt_next.y - pt_now.y); - pw.is_back = (inpro < 0.0); + pw.is_back = (inner_product < 0.0); } else { const auto & pt_pre = waypoints.at(i - 1); const auto & pt_now = waypoints.at(i); - const double inpro = + const double inner_product = cos(pt_pre.yaw) * (pt_now.x - pt_pre.x) + sin(pt_pre.yaw) * (pt_now.y - pt_pre.y); - pw.is_back = !(inpro > 0.0); + pw.is_back = !(inner_product > 0.0); } pw.pose = pose; waypoints_.waypoints.push_back(pw); diff --git a/planning/freespace_planning_algorithms/src/rrtstar_core.cpp b/planning/freespace_planning_algorithms/src/rrtstar_core.cpp index 5ccf1d0641930..25aa54a4f19ab 100644 --- a/planning/freespace_planning_algorithms/src/rrtstar_core.cpp +++ b/planning/freespace_planning_algorithms/src/rrtstar_core.cpp @@ -24,6 +24,8 @@ #include #include +// cspell: ignore rsspace +// In this case, RSSpace means "Reeds Shepp state Space" namespace rrtstar_core { CSpace::CSpace( @@ -158,13 +160,13 @@ void RRTStar::extend() return; } - const auto & neighbore_nodes = findNeighboreNodes(x_new); + const auto & neighbor_nodes = findNeighborNodes(x_new); - const auto & node_best_parent = getBestParentNode(x_new, node_nearest, neighbore_nodes); + const auto & node_best_parent = getBestParentNode(x_new, node_nearest, neighbor_nodes); const auto & node_new = addNewNode(x_new, std::const_pointer_cast(node_best_parent)); // Rewire - const auto node_reconnect = getReconnectTargeNode(node_new, neighbore_nodes); + const auto node_reconnect = getReconnectTargeNode(node_new, neighbor_nodes); if (node_reconnect) { reconnect(node_new, std::const_pointer_cast(node_reconnect)); } @@ -197,7 +199,8 @@ void RRTStar::extend() void RRTStar::deleteNodeUsingBranchAndBound() { - // see III.B of Karaman et al. ICRA 2011 + // cspell: ignore Karaman + // ref : III.B of Karaman et al. ICRA 2011 if (!isSolutionFound()) { return; } @@ -341,26 +344,26 @@ NodeConstSharedPtr RRTStar::findNearestNode(const Pose & x_rand) const return node_nearest; } -std::vector RRTStar::findNeighboreNodes(const Pose & x_new) const +std::vector RRTStar::findNeighborNodes(const Pose & x_new) const { // In the original paper of rrtstar, radius is shrinking over time. // However, because we use reeds-shepp distance metric instead of Euclidean metric, - // it is hard to design the shirinking radius update. Usage of informed sampling - // makes the problem far more complex, as the sampling reagion is shirinking over + // it is hard to design the shrinking radius update. Usage of informed sampling + // makes the problem far more complex, as the sampling region is shrinking over // the time. // Due to above difficulty in design of radius update, radius is simply fixed here. // In practice, the fixed radius setting works well as long as mu_ value is - // propery tuned. In car planning scenario, the order or planning world area - // is similar, and turining radius is also similar through different problems. + // properly tuned. In car planning scenario, the order or planning world area + // is similar, and turning radius is also similar through different problems. // So, tuning mu_ parameter is not so difficult. - const double radius_neighbore = mu_; + const double radius_neighbor = mu_; std::vector nodes; for (auto & node : nodes_) { - if (cspace_.distanceLowerBound(node->pose, x_new) > radius_neighbore) continue; - const bool is_neighbour = (cspace_.distance(node->pose, x_new) < radius_neighbore); - if (is_neighbour) { + if (cspace_.distanceLowerBound(node->pose, x_new) > radius_neighbor) continue; + const bool is_neighbor = (cspace_.distance(node->pose, x_new) < radius_neighbor); + if (is_neighbor) { nodes.push_back(node); } } @@ -379,17 +382,17 @@ NodeSharedPtr RRTStar::addNewNode(const Pose & pose, NodeSharedPtr node_parent) } NodeConstSharedPtr RRTStar::getReconnectTargeNode( - const NodeConstSharedPtr node_new, const std::vector & neighbore_nodes) const + const NodeConstSharedPtr node_new, const std::vector & neighbor_nodes) const { NodeConstSharedPtr node_reconnect = nullptr; - for (const auto & node_neighbore : neighbore_nodes) { + for (const auto & node_neighbor : neighbor_nodes) { if (cspace_.isValidPath_child2parent( - node_neighbore->pose, node_new->pose, collision_check_resolution_)) { + node_neighbor->pose, node_new->pose, collision_check_resolution_)) { const double cost_from_start_rewired = - *node_new->cost_from_start + cspace_.distance(node_new->pose, node_neighbore->pose); - if (cost_from_start_rewired < *node_neighbore->cost_from_start) { - node_reconnect = node_neighbore; + *node_new->cost_from_start + cspace_.distance(node_new->pose, node_neighbor->pose); + if (cost_from_start_rewired < *node_neighbor->cost_from_start) { + node_reconnect = node_neighbor; } } } @@ -399,12 +402,12 @@ NodeConstSharedPtr RRTStar::getReconnectTargeNode( NodeConstSharedPtr RRTStar::getBestParentNode( const Pose & pose_new, const NodeConstSharedPtr & node_nearest, - const std::vector & neighbore_nodes) const + const std::vector & neighbor_nodes) const { NodeConstSharedPtr node_best = node_nearest; double cost_min = *(node_nearest->cost_from_start) + cspace_.distance(node_nearest->pose, pose_new); - for (const auto & node : neighbore_nodes) { + for (const auto & node : neighbor_nodes) { const double cost_start_to_new = *(node->cost_from_start) + cspace_.distance(node->pose, pose_new); if (cost_start_to_new < cost_min) { @@ -444,14 +447,14 @@ void RRTStar::reconnect(const NodeSharedPtr & node_new, const NodeSharedPtr & no // node_reconnect_parent -> #nil; // update cost of all descendents of node_reconnect - std::queue bfqueue; - bfqueue.push(node_reconnect); - while (!bfqueue.empty()) { - const auto node = bfqueue.front(); - bfqueue.pop(); + std::queue bf_queue; + bf_queue.push(node_reconnect); + while (!bf_queue.empty()) { + const auto node = bf_queue.front(); + bf_queue.pop(); for (const auto & child : node->childs) { child->cost_from_start = *node->cost_from_start + *child->cost_to_parent; - bfqueue.push(child); + bf_queue.push(child); } } } diff --git a/planning/freespace_planning_algorithms/test/debug_plot.py b/planning/freespace_planning_algorithms/test/debug_plot.py index 7d6277a2756c6..bc96963f09dcb 100755 --- a/planning/freespace_planning_algorithms/test/debug_plot.py +++ b/planning/freespace_planning_algorithms/test/debug_plot.py @@ -91,8 +91,10 @@ class VehicleModel: def from_problem_description(cls, pd: ProblemDescription) -> "VehicleModel": return cls(pd.vehicle_length.data, pd.vehicle_width.data, pd.vehicle_base2back.data) + # cspell: ignore nparr + # nparr means "numpy array" (maybe) def get_vertices(self, pose: Pose) -> np.ndarray: - x, y, yaw = self.posemsg_to_nparr(pose) + x, y, yaw = self.pose_msg_to_nparr(pose) back = -1.0 * self.base2back front = self.length - self.base2back @@ -120,20 +122,20 @@ def euler_from_quaternion(quaternion): z = quaternion.z w = quaternion.w - sinr_cosp = 2 * (w * x + y * z) - cosr_cosp = 1 - 2 * (x * x + y * y) - roll = atan2(sinr_cosp, cosr_cosp) + sin_roll_cos_pitch = 2 * (w * x + y * z) + cos_roll_cos_pitch = 1 - 2 * (x * x + y * y) + roll = atan2(sin_roll_cos_pitch, cos_roll_cos_pitch) - sinp = 2 * (w * y - z * x) - pitch = asin(sinp) + sin_pitch = 2 * (w * y - z * x) + pitch = asin(sin_pitch) - siny_cosp = 2 * (w * z + x * y) - cosy_cosp = 1 - 2 * (y * y + z * z) - yaw = atan2(siny_cosp, cosy_cosp) + sin_yaw_cos_pitch = 2 * (w * z + x * y) + cos_yaw_cos_pitch = 1 - 2 * (y * y + z * z) + yaw = atan2(sin_yaw_cos_pitch, cos_yaw_cos_pitch) return roll, pitch, yaw @staticmethod - def posemsg_to_nparr(pose_msg: Pose) -> Tuple[float, float, float]: + def pose_msg_to_nparr(pose_msg: Pose) -> Tuple[float, float, float]: _, _, yaw = VehicleModel.euler_from_quaternion(pose_msg.orientation) return pose_msg.position.x, pose_msg.position.y, yaw @@ -151,12 +153,12 @@ def plot_problem(pd: ProblemDescription, ax, meta_info): X, Y = np.meshgrid(x_lin, y_lin) ax.contourf(X, Y, arr, cmap="Greys") - vmodel = VehicleModel.from_problem_description(pd) - vmodel.plot_pose(pd.start, ax, "green") - vmodel.plot_pose(pd.goal, ax, "red") + vehicle_model = VehicleModel.from_problem_description(pd) + vehicle_model.plot_pose(pd.start, ax, "green") + vehicle_model.plot_pose(pd.goal, ax, "red") for pose in pd.trajectory.poses: - vmodel.plot_pose(pose, ax, "blue", 0.5) + vehicle_model.plot_pose(pose, ax, "blue", 0.5) text = "elapsed : {0} [msec]".format(int(round(pd.elapsed_time.data))) ax.text(0.3, 0.3, text, fontsize=15, color="red") @@ -168,7 +170,7 @@ def plot_problem(pd: ProblemDescription, ax, meta_info): ax.set_ylim([b_min[1], b_max[1]]) -def create_concate_png(src_list, dest, is_horizontal): +def create_concat_png(src_list, dest, is_horizontal): opt = "+append" if is_horizontal else "-append" cmd = ["convert", opt] for src in src_list: @@ -179,11 +181,14 @@ def create_concate_png(src_list, dest, is_horizontal): if __name__ == "__main__": parser = argparse.ArgumentParser() - parser.add_argument("--concat", action="store_true", help="concat pngs (requires image magick)") + parser.add_argument( + "--concat", action="store_true", help="concat png images (requires imagemagick)" + ) args = parser.parse_args() concat = args.concat dir_name_table: Dict[Tuple[str, int], str] = {} + # cspell: ignore fpalgos, cand prefix = "fpalgos" for cand_dir in os.listdir("/tmp"): if cand_dir.startswith(prefix): @@ -200,7 +205,7 @@ def create_concate_png(src_list, dest, is_horizontal): for i in range(n_algo): algo_name = algo_names[i] - algo_pngs = [] + algo_png_images = [] for j in range(n_case): fig, ax = plt.subplots() @@ -214,10 +219,10 @@ def create_concate_png(src_list, dest, is_horizontal): fig.tight_layout() file_name = os.path.join("/tmp", "plot-{}.png".format(meta_info)) - algo_pngs.append(file_name) + algo_png_images.append(file_name) plt.savefig(file_name) print("saved to {}".format(file_name)) algowise_summary_file = os.path.join("/tmp", "summary-{}.png".format(algo_name)) if concat: - create_concate_png(algo_pngs, algowise_summary_file, True) + create_concat_png(algo_png_images, algowise_summary_file, True) diff --git a/planning/freespace_planning_algorithms/test/debug_plot_rrtstar_core.py b/planning/freespace_planning_algorithms/test/debug_plot_rrtstar_core.py index 3fa6d152eba11..f1155e7aed218 100755 --- a/planning/freespace_planning_algorithms/test/debug_plot_rrtstar_core.py +++ b/planning/freespace_planning_algorithms/test/debug_plot_rrtstar_core.py @@ -25,6 +25,8 @@ import matplotlib.pyplot as plt import numpy as np +# cspell: ignore ndim, ndata, linewidth + @dataclass class Node: diff --git a/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index 8ea9e0b4af8b5..a7fdab0df7b8f 100644 --- a/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -35,9 +35,9 @@ namespace fpa = freespace_planning_algorithms; -const double length_lexas = 5.5; -const double width_lexas = 2.75; -const fpa::VehicleShape vehicle_shape = fpa::VehicleShape{length_lexas, width_lexas, 1.5}; +const double length_lexus = 5.5; +const double width_lexus = 2.75; +const fpa::VehicleShape vehicle_shape = fpa::VehicleShape{length_lexus, width_lexus, 1.5}; const double pi = 3.1415926; const std::array start_pose{5.5, 4., pi * 0.5}; const std::array goal_pose1{8.0, 26.3, pi * 1.5}; // easiest @@ -114,22 +114,22 @@ nav_msgs::msg::OccupancyGrid construct_cost_map( } // car1 - if (10.0 < x && x < 10.0 + width_lexas && 22.0 < y && y < 22.0 + length_lexas) { + if (10.0 < x && x < 10.0 + width_lexus && 22.0 < y && y < 22.0 + length_lexus) { costmap_msg.data[i * width + j] = 100.0; } // car2 - if (13.5 < x && x < 13.5 + width_lexas && 22.0 < y && y < 22.0 + length_lexas) { + if (13.5 < x && x < 13.5 + width_lexus && 22.0 < y && y < 22.0 + length_lexus) { costmap_msg.data[i * width + j] = 100.0; } // car3 - if (20.0 < x && x < 20.0 + width_lexas && 22.0 < y && y < 22.0 + length_lexas) { + if (20.0 < x && x < 20.0 + width_lexus && 22.0 < y && y < 22.0 + length_lexus) { costmap_msg.data[i * width + j] = 100.0; } // car4 - if (10.0 < x && x < 10.0 + width_lexas && 10.0 < y && y < 10.0 + length_lexas) { + if (10.0 < x && x < 10.0 + width_lexus && 10.0 < y && y < 10.0 + length_lexus) { costmap_msg.data[i * width + j] = 100.0; } } @@ -238,6 +238,7 @@ enum AlgorithmType { RRTSTAR_UPDATE, RRTSTAR_INFORMED_UPDATE, }; +// cspell: ignore fpalgos std::unordered_map rosbag_dir_prefix_table( {{ASTAR_SINGLE, "fpalgos-astar_single"}, {ASTAR_MULTI, "fpalgos-astar_multi"}, @@ -363,7 +364,7 @@ TEST(AstarSearchTestSuite, MultiCurvature) EXPECT_TRUE(test_algorithm(AlgorithmType::ASTAR_MULTI)); } -TEST(RRTStarTestSuite, Fastetst) { EXPECT_TRUE(test_algorithm(AlgorithmType::RRTSTAR_FASTEST)); } +TEST(RRTStarTestSuite, Fastest) { EXPECT_TRUE(test_algorithm(AlgorithmType::RRTSTAR_FASTEST)); } TEST(RRTStarTestSuite, Update) { EXPECT_TRUE(test_algorithm(AlgorithmType::RRTSTAR_UPDATE)); } diff --git a/planning/obstacle_cruise_planner/README.md b/planning/obstacle_cruise_planner/README.md index e3ddbfb1b157a..81d205c0c1c3e 100644 --- a/planning/obstacle_cruise_planner/README.md +++ b/planning/obstacle_cruise_planner/README.md @@ -200,7 +200,7 @@ $$ | Variable | Description | | ----------------- | --------------------------------------- | -| `d` | actual distane to obstacle | +| `d` | actual distance to obstacle | | `d_{rss}` | ideal distance to obstacle based on RSS | | `v_{min, cruise}` | `min_cruise_target_vel` | | `w_{acc}` | `output_ratio_during_accel` | diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp index f94516407e3c5..e15f8f9759660 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp @@ -82,7 +82,7 @@ class PIDBasedPlanner : public PlannerInterface const ObstacleCruisePlannerData & planner_data, const CruiseObstacleInfo & cruise_obstacle_info); - // velocityinsertion based planner + // velocity insertion based planner Trajectory doCruiseWithTrajectory( const ObstacleCruisePlannerData & planner_data, const CruiseObstacleInfo & cruise_obstacle_info); diff --git a/planning/obstacle_velocity_limiter/README.md b/planning/obstacle_velocity_limiter/README.md index 3a0807d4e1a5d..d670f07d26e9d 100644 --- a/planning/obstacle_velocity_limiter/README.md +++ b/planning/obstacle_velocity_limiter/README.md @@ -21,7 +21,7 @@ If the footprint collides with some obstacle, the velocity at the trajectory poi The motion of the ego vehicle is simulated at each trajectory point using the `heading`, `velocity`, and `steering` defined at the point. Footprints are then constructed from these simulations and checked for collision. -If a collision is found, the distance from the trajectory point is used to calculate the adjusted velocity that would produce a collision-free footprint. Parameter `simulation.distance_method` allow to switch between an exact distance calculation and a less expensive approximation using a simple euclidian distance. +If a collision is found, the distance from the trajectory point is used to calculate the adjusted velocity that would produce a collision-free footprint. Parameter `simulation.distance_method` allow to switch between an exact distance calculation and a less expensive approximation using a simple euclidean distance. Two models can be selected with parameter `simulation.model` for simulating the motion of the vehicle: a simple particle model and a more complicated bicycle model. @@ -127,7 +127,7 @@ If a collision is found, the velocity at the trajectory point is adjusted such t $velocity = \frac{dist\_to\_collision}{min\_ttc}$ To prevent sudden deceleration of the ego vehicle, the parameter `max_deceleration` limits the deceleration relative to the current ego velocity. -For a trajectory point occuring at a duration `t` in the future (calculated from the original velocity profile), +For a trajectory point occurring at a duration `t` in the future (calculated from the original velocity profile), the adjusted velocity cannot be set lower than $v_{current} - t * max\_deceleration$. Furthermore, a parameter `min_adjusted_velocity` diff --git a/planning/obstacle_velocity_limiter/benchmarks/collision_checker_benchmark.cpp b/planning/obstacle_velocity_limiter/benchmarks/collision_checker_benchmark.cpp index 936476c800117..cfd8ea0f3e244 100644 --- a/planning/obstacle_velocity_limiter/benchmarks/collision_checker_benchmark.cpp +++ b/planning/obstacle_velocity_limiter/benchmarks/collision_checker_benchmark.cpp @@ -14,6 +14,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/debug.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/debug.hpp index 7b9553a936ee7..c33e283ed7c0c 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/debug.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/debug.hpp @@ -17,6 +17,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/distance.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/distance.hpp index 22d70463fc0d9..ca80fc468079d 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/distance.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/distance.hpp @@ -18,6 +18,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/forward_projection.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/forward_projection.hpp index 9c545e6fe2821..51b5111b9d6ac 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/forward_projection.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/forward_projection.hpp @@ -17,6 +17,7 @@ #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/map_utils.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/map_utils.hpp index b1e8f848acd88..32b69b149e9f2 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/map_utils.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/map_utils.hpp @@ -16,6 +16,7 @@ #define OBSTACLE_VELOCITY_LIMITER__MAP_UTILS_HPP_ #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter.hpp index b95d3849cda9a..91611938119e5 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter.hpp @@ -18,6 +18,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include #include @@ -102,13 +103,13 @@ polygon_t createEnvelopePolygon(const std::vector & footprints); /// @details depending on the method used, multiple lines can be created for a same trajectory point /// @param[in] trajectory input trajectory /// @param[in] params projection parameters -/// @return projecton lines for each trajectory point +/// @return projection lines for each trajectory point std::vector createProjectedLines( const Trajectory & trajectory, ProjectionParameters & params); /// @brief limit the velocity of the given trajectory /// @param[in] trajectory input trajectory -/// @param[in] collision_checker object used to retrive collision points +/// @param[in] collision_checker object used to retrieve collision points /// @param[in] projections forward projection lines at each trajectory point /// @param[in] footprints footprint of the forward projection at each trajectory point /// @param[in] projection_params projection parameters diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp index 1575fbcd13423..a74128f57d6fd 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp @@ -18,6 +18,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacles.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacles.hpp index 4d82f31dc019c..0d7edc649857d 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacles.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/obstacles.hpp @@ -17,6 +17,7 @@ #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/occupancy_grid_utils.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/occupancy_grid_utils.hpp index 9babbe8defb5a..61f4f575f826b 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/occupancy_grid_utils.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/occupancy_grid_utils.hpp @@ -17,6 +17,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/parameters.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/parameters.hpp index cb8c812661bfc..7521e6b1a0bba 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/parameters.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/parameters.hpp @@ -16,6 +16,7 @@ #define OBSTACLE_VELOCITY_LIMITER__PARAMETERS_HPP_ #include +// cspell: ignore multipolygon, multilinestring #include #include @@ -39,6 +40,7 @@ struct ObstacleParameters static constexpr auto RTREE_SEGMENTS_PARAM = "obstacles.rtree_min_segments"; static constexpr auto RTREE_POINTS_PARAM = "obstacles.rtree_min_points"; + // cspell: ignore OCCUPANCYGRID enum { POINTCLOUD, OCCUPANCYGRID, STATIC_ONLY } dynamic_source = OCCUPANCYGRID; int8_t occupancy_grid_threshold{}; Float dynamic_obstacles_buffer{}; diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/pointcloud_utils.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/pointcloud_utils.hpp index 9714a7003b1db..80d79791d0bbc 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/pointcloud_utils.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/pointcloud_utils.hpp @@ -17,6 +17,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include "tier4_autoware_utils/ros/transform_listener.hpp" #include @@ -39,7 +40,7 @@ pcl::PointCloud::Ptr transformPointCloud( const PointCloud & pointcloud_msg, tier4_autoware_utils::TransformListener & transform_listener, const std::string & target_frame); -/// @brief filter the pointcloud to keep only relevent points +/// @brief filter the pointcloud to keep only relevant points /// @param[in,out] pointcloud to filter /// @param[in] masks obstacle masks used to filter the pointcloud void filterPointCloud(pcl::PointCloud::Ptr pointcloud, const ObstacleMasks & masks); diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/trajectory_preprocessing.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/trajectory_preprocessing.hpp index 258ef8f01b5f5..2ee003206339d 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/trajectory_preprocessing.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/trajectory_preprocessing.hpp @@ -16,6 +16,7 @@ #define OBSTACLE_VELOCITY_LIMITER__TRAJECTORY_PREPROCESSING_HPP_ #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring namespace obstacle_velocity_limiter { diff --git a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/types.hpp b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/types.hpp index f11b2ff87af23..81de7463b9e42 100644 --- a/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/types.hpp +++ b/planning/obstacle_velocity_limiter/include/obstacle_velocity_limiter/types.hpp @@ -23,6 +23,7 @@ #include #include +// cspell: ignore multipolygon, multilinestring namespace obstacle_velocity_limiter { using autoware_auto_perception_msgs::msg::PredictedObjects; diff --git a/planning/obstacle_velocity_limiter/src/debug.cpp b/planning/obstacle_velocity_limiter/src/debug.cpp index fbbf48e69b023..853dee2d20f49 100644 --- a/planning/obstacle_velocity_limiter/src/debug.cpp +++ b/planning/obstacle_velocity_limiter/src/debug.cpp @@ -16,6 +16,7 @@ #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/src/distance.cpp b/planning/obstacle_velocity_limiter/src/distance.cpp index 2e0ff52c1922c..68d634022c5f7 100644 --- a/planning/obstacle_velocity_limiter/src/distance.cpp +++ b/planning/obstacle_velocity_limiter/src/distance.cpp @@ -38,18 +38,18 @@ std::optional distanceToClosestCollision( for (const auto & obs_point : collision_checker.intersections(footprint)) { if (params.distance_method == ProjectionParameters::EXACT) { if (params.model == ProjectionParameters::PARTICLE) { - const auto euclidian_dist = bg::distance(obs_point, projection.front()); + const auto euclidean_dist = bg::distance(obs_point, projection.front()); const auto collision_heading = std::atan2( obs_point.y() - projection.front().y(), obs_point.x() - projection.front().x()); const auto angle = params.heading - collision_heading; - const auto long_dist = std::abs(std::cos(angle)) * euclidian_dist; + const auto long_dist = std::abs(std::cos(angle)) * euclidean_dist; min_dist = std::min(min_dist, long_dist); } else { // BICYCLE model with curved projection min_dist = std::min(min_dist, arcDistance(projection.front(), params.heading, obs_point)); } } else { // APPROXIMATION - const auto euclidian_dist = bg::distance(obs_point, projection.front()); - min_dist = std::min(min_dist, euclidian_dist); + const auto euclidean_dist = bg::distance(obs_point, projection.front()); + min_dist = std::min(min_dist, euclidean_dist); } } if (min_dist != std::numeric_limits::max()) distance = min_dist; diff --git a/planning/obstacle_velocity_limiter/src/forward_projection.cpp b/planning/obstacle_velocity_limiter/src/forward_projection.cpp index b4000389b19e8..d3193eefe0114 100644 --- a/planning/obstacle_velocity_limiter/src/forward_projection.cpp +++ b/planning/obstacle_velocity_limiter/src/forward_projection.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/src/map_utils.cpp b/planning/obstacle_velocity_limiter/src/map_utils.cpp index 5e39daef89c64..e84734355268e 100644 --- a/planning/obstacle_velocity_limiter/src/map_utils.cpp +++ b/planning/obstacle_velocity_limiter/src/map_utils.cpp @@ -17,6 +17,7 @@ #include "lanelet2_core/primitives/LineString.h" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp b/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp index 15dd0fbadb5bb..6144f338159da 100644 --- a/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp +++ b/planning/obstacle_velocity_limiter/src/obstacle_velocity_limiter_node.cpp @@ -21,6 +21,7 @@ #include "obstacle_velocity_limiter/parameters.hpp" #include "obstacle_velocity_limiter/trajectory_preprocessing.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include #include diff --git a/planning/obstacle_velocity_limiter/src/obstacles.cpp b/planning/obstacle_velocity_limiter/src/obstacles.cpp index ac8444a508be8..417ff6b7783e2 100644 --- a/planning/obstacle_velocity_limiter/src/obstacles.cpp +++ b/planning/obstacle_velocity_limiter/src/obstacles.cpp @@ -79,6 +79,7 @@ void addSensorObstacles( const ObstacleMasks & masks, tier4_autoware_utils::TransformListener & transform_listener, const std::string & target_frame, const ObstacleParameters & obstacle_params) { + // cspell: ignore OCCUPANCYGRID if (obstacle_params.dynamic_source == ObstacleParameters::OCCUPANCYGRID) { auto grid_map = convertToGridMap(occupancy_grid); threshold(grid_map, obstacle_params.occupancy_grid_threshold); diff --git a/planning/obstacle_velocity_limiter/src/occupancy_grid_utils.cpp b/planning/obstacle_velocity_limiter/src/occupancy_grid_utils.cpp index 72b9bf6431f03..397e20d05ebe0 100644 --- a/planning/obstacle_velocity_limiter/src/occupancy_grid_utils.cpp +++ b/planning/obstacle_velocity_limiter/src/occupancy_grid_utils.cpp @@ -15,6 +15,7 @@ #include "obstacle_velocity_limiter/occupancy_grid_utils.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include #include diff --git a/planning/obstacle_velocity_limiter/src/pointcloud_utils.cpp b/planning/obstacle_velocity_limiter/src/pointcloud_utils.cpp index 4f9ca6c5bc3e7..25339a49529d6 100644 --- a/planning/obstacle_velocity_limiter/src/pointcloud_utils.cpp +++ b/planning/obstacle_velocity_limiter/src/pointcloud_utils.cpp @@ -15,6 +15,7 @@ #include "obstacle_velocity_limiter/pointcloud_utils.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp b/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp index e9cf8d9ad4dd6..64693ef8ef249 100644 --- a/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp +++ b/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp @@ -15,6 +15,7 @@ #include "obstacle_velocity_limiter/distance.hpp" #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include "tier4_autoware_utils/geometry/geometry.hpp" #include diff --git a/planning/obstacle_velocity_limiter/test/test_forward_projection.cpp b/planning/obstacle_velocity_limiter/test/test_forward_projection.cpp index 3275bf1ab5506..6e35ec95c62e0 100644 --- a/planning/obstacle_velocity_limiter/test/test_forward_projection.cpp +++ b/planning/obstacle_velocity_limiter/test/test_forward_projection.cpp @@ -14,6 +14,7 @@ #include "obstacle_velocity_limiter/forward_projection.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include "tier4_autoware_utils/geometry/geometry.hpp" #include diff --git a/planning/obstacle_velocity_limiter/test/test_obstacles.cpp b/planning/obstacle_velocity_limiter/test/test_obstacles.cpp index 70a0e94491b19..f75e808828ca6 100644 --- a/planning/obstacle_velocity_limiter/test/test_obstacles.cpp +++ b/planning/obstacle_velocity_limiter/test/test_obstacles.cpp @@ -14,6 +14,7 @@ #include "obstacle_velocity_limiter/obstacles.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/obstacle_velocity_limiter/test/test_occupancy_grid_utils.cpp b/planning/obstacle_velocity_limiter/test/test_occupancy_grid_utils.cpp index 486dfe74eed73..a6ff8543f6ad0 100644 --- a/planning/obstacle_velocity_limiter/test/test_occupancy_grid_utils.cpp +++ b/planning/obstacle_velocity_limiter/test/test_occupancy_grid_utils.cpp @@ -14,6 +14,7 @@ #include "obstacle_velocity_limiter/occupancy_grid_utils.hpp" #include "obstacle_velocity_limiter/types.hpp" +// cspell: ignore multipolygon, multilinestring #include diff --git a/planning/planning_debug_tools/Readme.md b/planning/planning_debug_tools/Readme.md index f2d29c796c747..6538bf1db222d 100644 --- a/planning/planning_debug_tools/Readme.md +++ b/planning/planning_debug_tools/Readme.md @@ -77,6 +77,9 @@ PlotCurrentVelocity('localization_kinematic_state', '/localization/kinematic_sta in Function Library ![image](./image/script.png) + + + ```lua function PlotValue(name, path, timestamp, value) diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py index 7051cf31bc6a9..292a2ae49ae9c 100755 --- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py +++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py @@ -69,8 +69,8 @@ def __init__(self): # planning path and trajectories profile = rclpy.qos.QoSProfile(depth=1) - transien_local = rclpy.qos.QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL - transient_local_profile = rclpy.qos.QoSProfile(depth=1, durability=transien_local) + transient_local = rclpy.qos.QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL + transient_local_profile = rclpy.qos.QoSProfile(depth=1, durability=transient_local) lane_drv = "/planning/scenario_planning/lane_driving" scenario = "/planning/scenario_planning" self.sub0 = self.create_subscription( diff --git a/planning/planning_validator/include/planning_validator/utils.hpp b/planning/planning_validator/include/planning_validator/utils.hpp index 4497ee1d77eee..9b5775642424c 100644 --- a/planning/planning_validator/include/planning_validator/utils.hpp +++ b/planning/planning_validator/include/planning_validator/utils.hpp @@ -38,6 +38,7 @@ Trajectory resampleTrajectory(const Trajectory & trajectory, const double min_in void calcCurvature(const Trajectory & trajectory, std::vector & curvatures); +// cspell: ignore steerings void calcSteeringAngles( const Trajectory & trajectory, const double wheelbase, std::vector & steerings); diff --git a/sensing/geo_pos_conv/src/geo_pos_conv.cpp b/sensing/geo_pos_conv/src/geo_pos_conv.cpp index 119424bf19db0..a046b73f65a16 100644 --- a/sensing/geo_pos_conv/src/geo_pos_conv.cpp +++ b/sensing/geo_pos_conv/src/geo_pos_conv.cpp @@ -211,7 +211,7 @@ void geo_pos_conv::conv_llh2xyz(void) Pmo = 0.9999; /*WGS84 Parameters*/ - AW = 6378137.0; // Semimajor Axis + AW = 6378137.0; // Semi-major Axis FW = 1.0 / 298.257222101; // 298.257223563 //Geometrical flattening Pe = sqrt(2.0 * FW - pow(FW, 2)); diff --git a/sensing/gnss_poser/include/gnss_poser/convert.hpp b/sensing/gnss_poser/include/gnss_poser/convert.hpp index 1c3c0dbb6d602..1ad25ae35a124 100644 --- a/sensing/gnss_poser/include/gnss_poser/convert.hpp +++ b/sensing/gnss_poser/include/gnss_poser/convert.hpp @@ -30,8 +30,8 @@ namespace gnss_poser { enum class MGRSPrecision { - _10_KIRO_METER = 1, - _1_KIRO_METER = 2, + _10_KILO_METER = 1, + _1_KILO_METER = 2, _100_METER = 3, _10_METER = 4, _1_METER = 5, @@ -87,7 +87,8 @@ GNSSStat NavSatFix2UTM( try { GeographicLib::UTMUPS::Forward( - nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, utm.zone, utm.northup, utm.x, utm.y); + nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, utm.zone, utm.east_north_up, utm.x, + utm.y); utm.z = EllipsoidHeight2OrthometricHeight(nav_sat_fix_msg, logger); @@ -111,14 +112,14 @@ GNSSStat NavSatFix2LocalCartesianUTM( utm_origin.coordinate_system = CoordinateSystem::UTM; GeographicLib::UTMUPS::Forward( nav_sat_fix_origin.latitude, nav_sat_fix_origin.longitude, utm_origin.zone, - utm_origin.northup, utm_origin.x, utm_origin.y); + utm_origin.east_north_up, utm_origin.x, utm_origin.y); utm_origin.z = EllipsoidHeight2OrthometricHeight(nav_sat_fix_origin, logger); // individual coordinates of global coordinate system double global_x = 0.0; double global_y = 0.0; GeographicLib::UTMUPS::Forward( - nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, utm_origin.zone, utm_origin.northup, - global_x, global_y); + nav_sat_fix_msg.latitude, nav_sat_fix_msg.longitude, utm_origin.zone, + utm_origin.east_north_up, global_x, global_y); utm_local.latitude = nav_sat_fix_msg.latitude; utm_local.longitude = nav_sat_fix_msg.longitude; utm_local.altitude = nav_sat_fix_msg.altitude; @@ -142,7 +143,8 @@ GNSSStat UTM2MGRS( try { std::string mgrs_code; GeographicLib::MGRS::Forward( - utm.zone, utm.northup, utm.x, utm.y, utm.latitude, static_cast(precision), mgrs_code); + utm.zone, utm.east_north_up, utm.x, utm.y, utm.latitude, static_cast(precision), + mgrs_code); mgrs.mgrs_zone = std::string(mgrs_code.substr(0, GZD_ID_size)); mgrs.x = std::stod(mgrs_code.substr(GZD_ID_size, static_cast(precision))) * std::pow( diff --git a/sensing/gnss_poser/include/gnss_poser/gnss_stat.hpp b/sensing/gnss_poser/include/gnss_poser/gnss_stat.hpp index 030e569d69a3d..46fdc6eeff9ee 100644 --- a/sensing/gnss_poser/include/gnss_poser/gnss_stat.hpp +++ b/sensing/gnss_poser/include/gnss_poser/gnss_stat.hpp @@ -30,7 +30,7 @@ struct GNSSStat { GNSSStat() : coordinate_system(CoordinateSystem::MGRS), - northup(true), + east_north_up(true), zone(0), mgrs_zone(""), x(0), @@ -43,7 +43,7 @@ struct GNSSStat } CoordinateSystem coordinate_system; - bool northup; + bool east_north_up; int zone; std::string mgrs_zone; double x; diff --git a/sensing/image_diagnostics/README.md b/sensing/image_diagnostics/README.md index ff033d6874bb1..03858088564b3 100644 --- a/sensing/image_diagnostics/README.md +++ b/sensing/image_diagnostics/README.md @@ -8,7 +8,7 @@ The `image_diagnostics` is a node that check the status of the input raw image. Below figure shows the flowchart of image diagnostics node. Each image is divided into small blocks for block state assessment. -![image diagnostics flowchar ](./image/image_diagnostics_overview.svg) +![image diagnostics flowchart ](./image/image_diagnostics_overview.svg) Each small image block state is assessed as below figure. diff --git a/sensing/pointcloud_preprocessor/config/processing_time_ms.xml b/sensing/pointcloud_preprocessor/config/processing_time_ms.xml index 7f7f0cdefdb8e..5da1ec3720fb0 100644 --- a/sensing/pointcloud_preprocessor/config/processing_time_ms.xml +++ b/sensing/pointcloud_preprocessor/config/processing_time_ms.xml @@ -49,7 +49,7 @@ - + diff --git a/sensing/pointcloud_preprocessor/docs/blockage_diag.md b/sensing/pointcloud_preprocessor/docs/blockage_diag.md index 6c51755768320..519bd831fd39c 100644 --- a/sensing/pointcloud_preprocessor/docs/blockage_diag.md +++ b/sensing/pointcloud_preprocessor/docs/blockage_diag.md @@ -50,7 +50,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ## Assumptions / Known limits -1. Only Hesai Pandar40P and Hesai PandarQT were tested. For a new LiDAR, it is neccessary to check order of channel id in vertical distribution manually and modifiy the code. +1. Only Hesai Pandar40P and Hesai PandarQT were tested. For a new LiDAR, it is necessary to check order of channel id in vertical distribution manually and modify the code. 2. The current method is still limited for dust type of blockage when dust particles are sparsely distributed. ## (Optional) Error detection and handling diff --git a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md index 2aaf9d5a4f206..dcb03cc792cae 100644 --- a/sensing/pointcloud_preprocessor/docs/distortion-corrector.md +++ b/sensing/pointcloud_preprocessor/docs/distortion-corrector.md @@ -9,7 +9,7 @@ Since the LiDAR sensor scans by rotating an internal laser, the resulting point ## Inner-workings / Algorithms - Use the equations below (specific to the Velodyne 32C sensor) to obtain an accurate timestamp for each scan data point. -- Use twist information to determine the distance the ego-vehicle has travelled between the time that the scan started and the corrected timestamp of each point, and then correct the position of the point. +- Use twist information to determine the distance the ego-vehicle has traveled between the time that the scan started and the corrected timestamp of each point, and then correct the position of the point. The offset equation is given by $ TimeOffset = (55.296 \mu s _SequenceIndex) + (2.304 \mu s_ DataPointIndex) $ diff --git a/sensing/pointcloud_preprocessor/docs/image/blockage_diag_flowchart.drawio.svg b/sensing/pointcloud_preprocessor/docs/image/blockage_diag_flowchart.drawio.svg index e1d0673d61eff..c8cb4e9c57a5f 100644 --- a/sensing/pointcloud_preprocessor/docs/image/blockage_diag_flowchart.drawio.svg +++ b/sensing/pointcloud_preprocessor/docs/image/blockage_diag_flowchart.drawio.svg @@ -58,14 +58,14 @@ >
- no retrurn region + no return region
detection
- no retrurn region... + no return region... @@ -82,7 +82,7 @@
small segment
- fillter + filter
@@ -179,11 +179,11 @@
-
diagnotics
+
diagnostics
 - diagnotics + diagnostics
- Frist return (weak) + First return (weak)
- Frist retur... + First retur... diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp index 5336efb7d81e9..8115a46c1ffbc 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/passthrough_filter/passthrough_uint16.hpp @@ -62,6 +62,7 @@ namespace pcl { +// cspell: ignore ptfilter /** \brief @b PassThroughUInt16 passes points in a cloud based on constraints for one particular * field of the point type. \details Iterates through the entire input once, automatically filtering * non-finite points and the points outside the interval specified by setFilterLimits(), which diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp index 05a404c635ee6..139cf56dccce7 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp @@ -186,7 +186,7 @@ void DualReturnOutlierFilterComponent::filter( } else if (keep_next) { temp_segment.points.push_back(*iter); keep_next = false; - // Analyse segment points here + // Analyze segment points here } else { // Log the deleted azimuth and its distance for analysis switch (roi_mode_map_[roi_mode_]) { @@ -220,7 +220,7 @@ void DualReturnOutlierFilterComponent::filter( } } } - // Analyse last segment points here + // Analyze last segment points here std::vector noise_frequency(horizontal_bins, 0); uint current_deleted_index = 0; uint current_temp_segment_index = 0; @@ -301,7 +301,7 @@ void DualReturnOutlierFilterComponent::filter( } else if (keep_next) { temp_segment.points.push_back(*iter); keep_next = false; - // Analyse segment points here + // Analyze segment points here } else { // Log the deleted azimuth and its distance for analysis // deleted_azimuths.push_back(iter->azimuth < 0.f ? 0.f : iter->azimuth); diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp index cd589e252544b..3a40408bcd8de 100644 --- a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp +++ b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp @@ -137,6 +137,7 @@ void pcl::PassThroughUInt16::applyFilter(PCLPointCloud2 & o return; } + // cspell: ignore badpt std::uint16_t badpt = user_filter_value_; // Check whether we need to store filtered valued in place if (keep_organized_) { @@ -157,7 +158,7 @@ void pcl::PassThroughUInt16::applyFilter(PCLPointCloud2 & o if (filter_limit_negative_) { // Use a threshold for cutting out points which inside the interval if ((distance_value < filter_limit_max_) && (distance_value > filter_limit_min_)) { - // Unoptimized memcpys: assume fields x, y, z are in random order + // Unoptimized memcpy functions: assume fields x, y, z are in random order memcpy(&output.data[xyz_offset[0]], &badpt, sizeof(std::uint16_t)); memcpy(&output.data[xyz_offset[1]], &badpt, sizeof(std::uint16_t)); memcpy(&output.data[xyz_offset[2]], &badpt, sizeof(std::uint16_t)); @@ -170,7 +171,7 @@ void pcl::PassThroughUInt16::applyFilter(PCLPointCloud2 & o } else { // Use a threshold for cutting out points which are too close/far away if ((distance_value > filter_limit_max_) || (distance_value < filter_limit_min_)) { - // Unoptimized memcpys: assume fields x, y, z are in random order + // Unoptimized memcpy functions: assume fields x, y, z are in random order memcpy(&output.data[xyz_offset[0]], &badpt, sizeof(std::uint16_t)); memcpy(&output.data[xyz_offset[1]], &badpt, sizeof(std::uint16_t)); memcpy(&output.data[xyz_offset[2]], &badpt, sizeof(std::uint16_t)); @@ -220,7 +221,7 @@ void pcl::PassThroughUInt16::applyFilter(PCLPointCloud2 & o } } - // Unoptimized memcpys: assume fields x, y, z are in random order + // Unoptimized memcpy functions: assume fields x, y, z are in random order memcpy(&pt[0], &input_->data[xyz_offset[0]], sizeof(std::uint16_t)); memcpy(&pt[1], &input_->data[xyz_offset[1]], sizeof(std::uint16_t)); memcpy(&pt[2], &input_->data[xyz_offset[2]], sizeof(std::uint16_t)); @@ -245,7 +246,7 @@ void pcl::PassThroughUInt16::applyFilter(PCLPointCloud2 & o } else { // No distance filtering, process all data. // No need to check for is_organized here as we did it above for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) { - // Unoptimized memcpys: assume fields x, y, z are in random order + // Unoptimized memcpy functions: assume fields x, y, z are in random order memcpy(&pt[0], &input_->data[xyz_offset[0]], sizeof(std::uint16_t)); memcpy(&pt[1], &input_->data[xyz_offset[1]], sizeof(std::uint16_t)); memcpy(&pt[2], &input_->data[xyz_offset[2]], sizeof(std::uint16_t)); diff --git a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp index 670e58fb936cc..44b2f0dfe6ef0 100644 --- a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp +++ b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp @@ -94,6 +94,7 @@ class VoxelGridNearestCentroid : public VoxelGrid using VoxelGrid::max_b_; using VoxelGrid::inverse_leaf_size_; using VoxelGrid::div_b_; + // cspell: ignore divb using VoxelGrid::divb_mul_; typedef typename pcl::traits::fieldList::type FieldList; @@ -216,7 +217,7 @@ class VoxelGridNearestCentroid : public VoxelGrid : searchable_(true), // min_points_per_voxel_ (6), min_points_per_voxel_(1), - // min_covar_eigvalue_mult_ (0.01), + // min_covar_eigenvalue_mult_ (0.01), leaves_(), voxel_centroids_(), voxel_centroids_leaf_indices_(), @@ -257,12 +258,12 @@ class VoxelGridNearestCentroid : public VoxelGrid inline int getMinPointPerVoxel() { return min_points_per_voxel_; } /** \brief Set the minimum allowable ratio between eigenvalues to prevent singular covariance - * matrices. \param[in] min_covar_eigvalue_mult the minimum allowable ratio between eigenvalues + * matrices. \param[in] min_covar_eigenvalue_mult the minimum allowable ratio between eigenvalues */ // inline void - // setCovEigValueInflationRatio (double min_covar_eigvalue_mult) + // setCovEigValueInflationRatio (double min_covar_eigenvalue_mult) // { - // min_covar_eigvalue_mult_ = min_covar_eigvalue_mult; + // min_covar_eigenvalue_mult_ = min_covar_eigenvalue_mult; // } /** \brief Get the minimum allowable ratio between eigenvalues to prevent singular covariance @@ -271,7 +272,7 @@ class VoxelGridNearestCentroid : public VoxelGrid // inline double // getCovEigValueInflationRatio () // { - // return min_covar_eigvalue_mult_; + // return min_covar_eigenvalue_mult_; // } /** \brief Filter cloud and initializes voxel structure. @@ -516,7 +517,7 @@ class VoxelGridNearestCentroid : public VoxelGrid /** \brief Minimum allowable ratio between eigenvalues to prevent singular covariance * matrices. */ - // double min_covar_eigvalue_mult_; + // double min_covar_eigenvalue_mult_; /** \brief Voxel structure containing all leaf nodes (includes voxels with less than * a sufficient number of points). */ diff --git a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp index bd285e17edac7..6298c4a2e4153 100644 --- a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp +++ b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp @@ -126,6 +126,7 @@ void pcl::VoxelGridNearestCentroid::applyFilter(PointCloud & output) // Clear the leaves leaves_.clear(); + // cspell: ignore divb // Set up the division multiplier divb_mul_ = Eigen::Vector4i(1, div_b_[0], div_b_[0] * div_b_[1], 0); @@ -299,7 +300,7 @@ void pcl::VoxelGridNearestCentroid::applyFilter(PointCloud & output) // Eigen values less than a threshold of max eigen value are inflated to a set fraction of the // max eigen value. - // double min_covar_eigvalue; + // double min_covar_eigenvalue; for (typename std::map::iterator it = leaves_.begin(); it != leaves_.end(); ++it) { // Normalize the centroid diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp index 0e61f2d1122dc..e20c19da93af0 100644 --- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp +++ b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp @@ -53,7 +53,7 @@ double BoxSDF::operator()(double x, double y) const const auto && vec_global = tf2::Vector3(x, y, 0.0); const auto vec_local = tf_local_to_global_(vec_global); - // As for signed distance field for a box, please refere: + // As for signed distance field for a box, please refer: // https://www.iquilezles.org/www/articles/distfunctions/distfunctions.htm const auto sd_val_x = std::abs(vec_local.getX()) - 0.5 * length_; const auto sd_val_y = std::abs(vec_local.getY()) - 0.5 * width_; diff --git a/tools/simulator_test/simulator_compatibility_test/README.md b/tools/simulator_test/simulator_compatibility_test/README.md index 2b6f2a3b8928c..5dc9d233ce19d 100644 --- a/tools/simulator_test/simulator_compatibility_test/README.md +++ b/tools/simulator_test/simulator_compatibility_test/README.md @@ -13,8 +13,8 @@ File structure - test_morai_sim 1. test_base provides shared methods for testing. Other test codes are created based on functions defined here. -2. test_sim_common_manual_testing provides the most basic functions. Any simualtor can be tested using codes here. However, to make these codes usable with any simulators, the codes do not include any features for test automation. -3. test_morai_sim is an automated version of test_sim_common_manual_testing for MORAI SIM: Drive. Thus it includes 'MORAI SIM: Drive'-specific codes. Users of the other simulators may create similar version for thier simulator of interest. +2. test_sim_common_manual_testing provides the most basic functions. Any simulator can be tested using codes here. However, to make these codes usable with any simulators, the codes do not include any features for test automation. +3. test_morai_sim is an automated version of test_sim_common_manual_testing for MORAI SIM: Drive. Thus it includes 'MORAI SIM: Drive'-specific codes. Users of the other simulators may create similar version for their simulator of interest. ## Test Procedures for test_sim_common_manual_testing diff --git a/tools/simulator_test/simulator_compatibility_test/setup.py b/tools/simulator_test/simulator_compatibility_test/setup.py index 93ce1ab547e7b..f5b1e18cfdaf7 100644 --- a/tools/simulator_test/simulator_compatibility_test/setup.py +++ b/tools/simulator_test/simulator_compatibility_test/setup.py @@ -4,6 +4,8 @@ from setuptools import SetuptoolsDeprecationWarning from setuptools import setup +# cspell: ignore moraisim + simplefilter("ignore", category=SetuptoolsDeprecationWarning) simplefilter("ignore", category=PkgResourcesDeprecationWarning) diff --git a/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py b/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py index c8822d6f3194a..a1af495cd02bd 100644 --- a/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py +++ b/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py @@ -18,6 +18,7 @@ def __init__(self): self.topic = "/ctrl_cmd" self.publisher_ = self.create_publisher(CtrlCmd, self.topic, 10) + # cspell: ignore longl def publish_msg(self, cmd): msg = CtrlCmd() msg.longl_cmd_type = cmd["longCmdType"] diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md index c7b6432686218..b594f389db34b 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md @@ -243,6 +243,7 @@ Update the offsets by RLS in four grids around newly obtained data. By consideri **Advantage** : No data is wasted because updates are performed on the 4 grids around the data with appropriate weighting. **Disadvantage** : Accuracy may be degraded due to extreme bias of the data. For example, if data $z(k)$ is biased near $Z_{RR}$ in Fig. 2, updating is performed at the four surrounding points ( $Z_{RR}$, $Z_{RL}$, $Z_{LR}$, and $Z_{LL}$), but accuracy at $Z_{LL}$ is not expected. +

@@ -253,4 +254,6 @@ See eq.(7)-(10) in [1] for the updated formula. In addition, eq.(17),(18) from [ ### References + + [1] [Gabrielle Lochrie, Michael Doljevic, Mario Nona, Yongsoon Yoon, Anti-Windup Recursive Least Squares Method for Adaptive Lookup Tables with Application to Automotive Powertrain Control Systems, IFAC-PapersOnLine, Volume 54, Issue 20, 2021, Pages 840-845](https://www.sciencedirect.com/science/article/pii/S240589632102320X) diff --git a/vehicle/raw_vehicle_cmd_converter/src/node.cpp b/vehicle/raw_vehicle_cmd_converter/src/node.cpp index fb0bd00794c52..e45439ecb4d41 100644 --- a/vehicle/raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/raw_vehicle_cmd_converter/src/node.cpp @@ -144,7 +144,7 @@ double RawVehicleCommandConverterNode::calculateSteer( double dt = (current_time - prev_time_steer_calculation_).seconds(); if (std::abs(dt) > 1.0) { RCLCPP_WARN_EXPRESSION(get_logger(), is_debugging_, "ignore old topic"); - dt = 0.1; // set ordinaray delta time instead + dt = 0.1; // set ordinary delta time instead } prev_time_steer_calculation_ = current_time; // feed-forward