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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/obstacle_velocity_planner/include/obstacle_velocity_planner/box2d.hpp

@@ -1,120 +1,135 @@
-#ifndef OBSTACLE_VELOCITY_PLANNER_BOX2D_HPP_
-#define OBSTACLE_VELOCITY_PLANNER_BOX2D_HPP_
+// Copyright 2022 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OBSTACLE_VELOCITY_PLANNER__BOX2D_HPP_
+#define OBSTACLE_VELOCITY_PLANNER__BOX2D_HPP_
 
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
 #include <cmath>
+#include <limits>
 #include <vector>
 
 class Box2d
 {
 public:
-    Box2d(const geometry_msgs::msg::Pose & center_pose, const double length, const double width);
+  Box2d(const geometry_msgs::msg::Pose & center_pose, const double length, const double width);
 
-    bool HasOverlap(const Box2d & box) const ;
+  bool HasOverlap(const Box2d & box) const;
 
-    void InitCorners();
+  void InitCorners();
 
-    /**
+  /**
    * @brief Getter of the center of the box
    * @return The center of the box
    */
-    const geometry_msgs::msg::Point& center() const { return center_; }
-
-    /**
-     * @brief Getter of the x-coordinate of the center of the box
-     * @return The x-coordinate of the center of the box
-     */
-    double center_x() const { return center_.x; }
-
-    /**
-     * @brief Getter of the y-coordinate of the center of the box
-     * @return The y-coordinate of the center of the box
-     */
-    double center_y() const { return center_.y; }
-
-    /**
-     * @brief Getter of the length
-     * @return The length of the heading-axis
-     */
-    double length() const { return length_; }
-
-    /**
-     * @brief Getter of the width
-     * @return The width of the box taken perpendicularly to the heading
-     */
-    double width() const { return width_; }
-
-    /**
-     * @brief Getter of half the length
-     * @return Half the length of the heading-axis
-     */
-    double half_length() const { return half_length_; }
-
-    /**
-     * @brief Getter of half the width
-     * @return Half the width of the box taken perpendicularly to the heading
-     */
-    double half_width() const { return half_width_; }
-
-    /**
-     * @brief Getter of the heading
-     * @return The counter-clockwise angle between the x-axis and the heading-axis
-     */
-    double heading() const { return heading_; }
-
-    /**
-     * @brief Getter of the cosine of the heading
-     * @return The cosine of the heading
-     */
-    double cos_heading() const { return cos_heading_; }
-
-    /**
-     * @brief Getter of the sine of the heading
-     * @return The sine of the heading
-     */
-    double sin_heading() const { return sin_heading_; }
-
-    /**
+  const geometry_msgs::msg::Point & center() const { return center_; }
+
+  /**
+   * @brief Getter of the x-coordinate of the center of the box
+   * @return The x-coordinate of the center of the box
+   */
+  double center_x() const { return center_.x; }
+
+  /**
+   * @brief Getter of the y-coordinate of the center of the box
+   * @return The y-coordinate of the center of the box
+   */
+  double center_y() const { return center_.y; }
+
+  /**
+   * @brief Getter of the length
+   * @return The length of the heading-axis
+   */
+  double length() const { return length_; }
+
+  /**
+   * @brief Getter of the width
+   * @return The width of the box taken perpendicularly to the heading
+   */
+  double width() const { return width_; }
+
+  /**
+   * @brief Getter of half the length
+   * @return Half the length of the heading-axis
+   */
+  double half_length() const { return half_length_; }
+
+  /**
+   * @brief Getter of half the width
+   * @return Half the width of the box taken perpendicularly to the heading
+   */
+  double half_width() const { return half_width_; }
+
+  /**
+   * @brief Getter of the heading
+   * @return The counter-clockwise angle between the x-axis and the heading-axis
+   */
+  double heading() const { return heading_; }
+
+  /**
+   * @brief Getter of the cosine of the heading
+   * @return The cosine of the heading
+   */
+  double cos_heading() const { return cos_heading_; }
+
+  /**
+   * @brief Getter of the sine of the heading
+   * @return The sine of the heading
+   */
+  double sin_heading() const { return sin_heading_; }
+
+  /**
    * @brief Getter of the area of the box
    * @return The product of its length and width
    */
-    double area() const { return length_ * width_; }
+  double area() const { return length_ * width_; }
 
-    /**
-     * @brief Getter of the size of the diagonal of the box
-     * @return The diagonal size of the box
-     */
-    double diagonal() const { return std::hypot(length_, width_); }
+  /**
+   * @brief Getter of the size of the diagonal of the box
+   * @return The diagonal size of the box
+   */
+  double diagonal() const { return std::hypot(length_, width_); }
 
-    /**
-     * @brief Getter of the corners of the box
-     * @param corners The vector where the corners are listed
-     */
-    std::vector<geometry_msgs::msg::Point> GetAllCorners() const { return corners_; }
+  /**
+   * @brief Getter of the corners of the box
+   * @param corners The vector where the corners are listed
+   */
+  std::vector<geometry_msgs::msg::Point> GetAllCorners() const { return corners_; }
 
-    double max_x() const { return max_x_; }
-    double min_x() const { return min_x_; }
-    double max_y() const { return max_y_; }
-    double min_y() const { return min_y_; }
+  double max_x() const { return max_x_; }
+  double min_x() const { return min_x_; }
+  double max_y() const { return max_y_; }
+  double min_y() const { return min_y_; }
 
 private:
-    geometry_msgs::msg::Point center_;
-    double length_ = 0.0;
-    double width_ = 0.0;
-    double half_length_ = 0.0;
-    double half_width_ = 0.0;
-    double heading_ = 0.0;
-    double cos_heading_ = 1.0;
-    double sin_heading_ = 0.0;
-
-    std::vector<geometry_msgs::msg::Point> corners_;
-
-    double max_x_ = std::numeric_limits<double>::lowest();
-    double min_x_ = std::numeric_limits<double>::max();
-    double max_y_ = std::numeric_limits<double>::lowest();
-    double min_y_ = std::numeric_limits<double>::max();
+  geometry_msgs::msg::Point center_;
+  double length_ = 0.0;
+  double width_ = 0.0;
+  double half_length_ = 0.0;
+  double half_width_ = 0.0;
+  double heading_ = 0.0;
+  double cos_heading_ = 1.0;
+  double sin_heading_ = 0.0;
+
+  std::vector<geometry_msgs::msg::Point> corners_;
+
+  double max_x_ = std::numeric_limits<double>::lowest();
+  double min_x_ = std::numeric_limits<double>::max();
+  double max_y_ = std::numeric_limits<double>::lowest();
+  double min_y_ = std::numeric_limits<double>::max();
 };
 
-#endif // OBSTACLE_VELOCITY_PLANNER_BOX2D_HPP_
+#endif  // OBSTACLE_VELOCITY_PLANNER__BOX2D_HPP_

planning/obstacle_velocity_planner/include/obstacle_velocity_planner/common/s_boundary.hpp

@@ -11,23 +11,23 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_AVOIDANCE_PLANNER_ST_BOUNDARY_HPP_
-#define OBSTACLE_AVOIDANCE_PLANNER_ST_BOUNDARY_HPP_
+#ifndef OBSTACLE_VELOCITY_PLANNER__COMMON__S_BOUNDARY_HPP_
+#define OBSTACLE_VELOCITY_PLANNER__COMMON__S_BOUNDARY_HPP_
 
 #include <limits>
 #include <vector>
 
 class SBoundary
 {
 public:
-    SBoundary(const double _max_s, const double _min_s) : max_s(_max_s), min_s(_min_s) {}
-    SBoundary() : max_s(std::numeric_limits<double>::max()), min_s(0.0) {}
+  SBoundary(const double _max_s, const double _min_s) : max_s(_max_s), min_s(_min_s) {}
+  SBoundary() : max_s(std::numeric_limits<double>::max()), min_s(0.0) {}
 
-    double max_s = std::numeric_limits<double>::max();
-    double min_s = 0.0;
-    bool is_object = false;
+  double max_s = std::numeric_limits<double>::max();
+  double min_s = 0.0;
+  bool is_object = false;
 };
 
 using SBoundaries = std::vector<SBoundary>;
 
-#endif // OBSTACLE_AVOIDANCE_PLANNER_ST_BOUNDARY_HPP_
+#endif  // OBSTACLE_VELOCITY_PLANNER__COMMON__S_BOUNDARY_HPP_

planning/obstacle_velocity_planner/include/obstacle_velocity_planner/common/st_point.hpp

@@ -11,21 +11,21 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_AVOIDANCE_PLANNER_ST_POINT_HPP_
-#define OBSTACLE_AVOIDANCE_PLANNER_ST_POINT_HPP_
+#ifndef OBSTACLE_VELOCITY_PLANNER__COMMON__ST_POINT_HPP_
+#define OBSTACLE_VELOCITY_PLANNER__COMMON__ST_POINT_HPP_
 
 #include <vector>
 
 class STPoint
 {
 public:
-    STPoint(const double _s, const double _t) : s(_s), t(_t) {}
-    STPoint() : s(0.0), t(0.0) {}
+  STPoint(const double _s, const double _t) : s(_s), t(_t) {}
+  STPoint() : s(0.0), t(0.0) {}
 
-    double s;
-    double t;
+  double s;
+  double t;
 };
 
 using STPoints = std::vector<STPoint>;
 
-#endif // OBSTACLE_AVOIDANCE_PLANNER_ST_POINT_HPP_
+#endif  // OBSTACLE_VELOCITY_PLANNER__COMMON__ST_POINT_HPP_