refactor(autoware_interpolation): prefix package and namespace with a…

…utoware

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

common/interpolation/CMakeLists.txt → common/autoware_interpolation/CMakeLists.txt

@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 3.14)
-project(interpolation)
+project(autoware_interpolation)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(interpolation SHARED
+ament_auto_add_library(autoware_interpolation SHARED
   src/linear_interpolation.cpp
   src/spline_interpolation.cpp
   src/spline_interpolation_points_2d.cpp
@@ -17,7 +17,7 @@ if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_interpolation ${test_files})
 
   target_link_libraries(test_interpolation
-    interpolation
+    autoware_interpolation
   )
 endif()
 

common/interpolation/include/interpolation/interpolation_utils.hpp → common/autoware_interpolation/include/autoware/interpolation/interpolation_utils.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INTERPOLATION__INTERPOLATION_UTILS_HPP_
-#define INTERPOLATION__INTERPOLATION_UTILS_HPP_
+#ifndef AUTOWARE__INTERPOLATION__INTERPOLATION_UTILS_HPP_
+#define AUTOWARE__INTERPOLATION__INTERPOLATION_UTILS_HPP_
 
 #include <algorithm>
 #include <array>
 #include <stdexcept>
 #include <vector>
 
-namespace interpolation_utils
+namespace autoware::interpolation
 {
 inline bool isIncreasing(const std::vector<double> & x)
 {
@@ -109,6 +109,6 @@ void validateKeysAndValues(
     throw std::invalid_argument("The size of base_keys and base_values are not the same.");
   }
 }
-}  // namespace interpolation_utils
+}  // namespace autoware::interpolation
 
-#endif  // INTERPOLATION__INTERPOLATION_UTILS_HPP_
+#endif  // AUTOWARE__INTERPOLATION__INTERPOLATION_UTILS_HPP_

common/interpolation/include/interpolation/linear_interpolation.hpp → common/autoware_interpolation/include/autoware/interpolation/linear_interpolation.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INTERPOLATION__LINEAR_INTERPOLATION_HPP_
-#define INTERPOLATION__LINEAR_INTERPOLATION_HPP_
+#ifndef AUTOWARE__INTERPOLATION__LINEAR_INTERPOLATION_HPP_
+#define AUTOWARE__INTERPOLATION__LINEAR_INTERPOLATION_HPP_
 
-#include "interpolation/interpolation_utils.hpp"
+#include "autoware/interpolation/interpolation_utils.hpp"
 
 #include <vector>
 
-namespace interpolation
+namespace autoware::interpolation
 {
 double lerp(const double src_val, const double dst_val, const double ratio);
 
@@ -30,7 +30,6 @@ std::vector<double> lerp(
 double lerp(
   const std::vector<double> & base_keys, const std::vector<double> & base_values,
   const double query_key);
+}  // namespace autoware::interpolation
 
-}  // namespace interpolation
-
-#endif  // INTERPOLATION__LINEAR_INTERPOLATION_HPP_
+#endif  // AUTOWARE__INTERPOLATION__LINEAR_INTERPOLATION_HPP_

common/interpolation/include/interpolation/spherical_linear_interpolation.hpp → common/autoware_interpolation/include/autoware/interpolation/spherical_linear_interpolation.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_
-#define INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_
+#ifndef AUTOWARE__INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_
+#define AUTOWARE__INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_
 
-#include "interpolation/interpolation_utils.hpp"
+#include "autoware/interpolation/interpolation_utils.hpp"
 
 #include <geometry_msgs/msg/quaternion.hpp>
 
@@ -29,7 +29,7 @@
 
 #include <vector>
 
-namespace interpolation
+namespace autoware::interpolation
 {
 geometry_msgs::msg::Quaternion slerp(
   const geometry_msgs::msg::Quaternion & src_quat, const geometry_msgs::msg::Quaternion & dst_quat,
@@ -43,6 +43,6 @@ std::vector<geometry_msgs::msg::Quaternion> slerp(
 geometry_msgs::msg::Quaternion lerpOrientation(
   const geometry_msgs::msg::Quaternion & o_from, const geometry_msgs::msg::Quaternion & o_to,
   const double ratio);
-}  // namespace interpolation
+}  // namespace autoware::interpolation
 
-#endif  // INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_
+#endif  // AUTOWARE__INTERPOLATION__SPHERICAL_LINEAR_INTERPOLATION_HPP_

common/interpolation/include/interpolation/spline_interpolation.hpp → common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INTERPOLATION__SPLINE_INTERPOLATION_HPP_
-#define INTERPOLATION__SPLINE_INTERPOLATION_HPP_
+#ifndef AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_
+#define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_
 
+#include "autoware/interpolation/interpolation_utils.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "interpolation/interpolation_utils.hpp"
 
 #include <algorithm>
 #include <cmath>
 #include <iostream>
 #include <numeric>
 #include <vector>
 
-namespace interpolation
+namespace autoware::interpolation
 {
 // NOTE: X(s) = a_i (s - s_i)^3 + b_i (s - s_i)^2 + c_i (s - s_i) + d_i : (i = 0, 1, ... N-1)
 struct MultiSplineCoef
@@ -52,7 +52,6 @@ std::vector<double> spline(
 std::vector<double> splineByAkima(
   const std::vector<double> & base_keys, const std::vector<double> & base_values,
   const std::vector<double> & query_keys);
-}  // namespace interpolation
 
 // non-static 1-dimensional spline interpolation
 //
@@ -99,10 +98,11 @@ class SplineInterpolation
 
 private:
   std::vector<double> base_keys_;
-  interpolation::MultiSplineCoef multi_spline_coef_;
+  MultiSplineCoef multi_spline_coef_;
 
   void calcSplineCoefficients(
     const std::vector<double> & base_keys, const std::vector<double> & base_values);
 };
+}  // namespace autoware::interpolation
 
-#endif  // INTERPOLATION__SPLINE_INTERPOLATION_HPP_
+#endif  // AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_

common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp → common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp

@@ -12,19 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
-#define INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
+#ifndef AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
+#define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
 
-#include "interpolation/spline_interpolation.hpp"
+#include "autoware/interpolation/spline_interpolation.hpp"
 
 #include <vector>
 
-namespace interpolation
+namespace autoware::interpolation
 {
 
 template <typename T>
 std::vector<double> splineYawFromPoints(const std::vector<T> & points);
-}  // namespace interpolation
 
 // non-static points spline interpolation
 // NOTE: We can calculate yaw from the x and y by interpolation derivatives.
@@ -85,5 +84,6 @@ class SplineInterpolationPoints2d
 
   std::vector<double> base_s_vec_;
 };
+}  // namespace autoware::interpolation
 
-#endif  // INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_
+#endif  // AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_POINTS_2D_HPP_

common/interpolation/include/interpolation/zero_order_hold.hpp → common/autoware_interpolation/include/autoware/interpolation/zero_order_hold.hpp

@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef INTERPOLATION__ZERO_ORDER_HOLD_HPP_
-#define INTERPOLATION__ZERO_ORDER_HOLD_HPP_
+#ifndef AUTOWARE__INTERPOLATION__ZERO_ORDER_HOLD_HPP_
+#define AUTOWARE__INTERPOLATION__ZERO_ORDER_HOLD_HPP_
 
-#include "interpolation/interpolation_utils.hpp"
+#include "autoware/interpolation/interpolation_utils.hpp"
 
 #include <vector>
 
-namespace interpolation
+namespace autoware::interpolation
 {
 inline std::vector<size_t> calc_closest_segment_indices(
   const std::vector<double> & base_keys, const std::vector<double> & query_keys,
   const double overlap_threshold = 1e-3)
 {
   // throw exception for invalid arguments
-  const auto validated_query_keys = interpolation_utils::validateKeys(base_keys, query_keys);
+  const auto validated_query_keys = validateKeys(base_keys, query_keys);
 
   std::vector<size_t> closest_segment_indices(validated_query_keys.size());
   size_t closest_segment_idx = 0;
@@ -58,7 +58,7 @@ std::vector<T> zero_order_hold(
   const std::vector<size_t> & closest_segment_indices)
 {
   // throw exception for invalid arguments
-  interpolation_utils::validateKeysAndValues(base_keys, base_values);
+  validateKeysAndValues(base_keys, base_values);
 
   std::vector<T> query_values(closest_segment_indices.size());
   for (size_t i = 0; i < closest_segment_indices.size(); ++i) {
@@ -76,6 +76,6 @@ std::vector<T> zero_order_hold(
   return zero_order_hold(
     base_keys, base_values, calc_closest_segment_indices(base_keys, query_keys, overlap_threshold));
 }
-}  // namespace interpolation
+}  // namespace autoware::interpolation
 
-#endif  // INTERPOLATION__ZERO_ORDER_HOLD_HPP_
+#endif  // AUTOWARE__INTERPOLATION__ZERO_ORDER_HOLD_HPP_

common/interpolation/package.xml → common/autoware_interpolation/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>interpolation</name>
+  <name>autoware_interpolation</name>
   <version>0.1.0</version>
   <description>The spline interpolation package</description>
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>

common/interpolation/src/linear_interpolation.cpp → common/autoware_interpolation/src/linear_interpolation.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "interpolation/linear_interpolation.hpp"
+#include "autoware/interpolation/linear_interpolation.hpp"
 
 #include <vector>
 
-namespace interpolation
+namespace autoware::interpolation
 {
 double lerp(const double src_val, const double dst_val, const double ratio)
 {
@@ -28,8 +28,8 @@ std::vector<double> lerp(
   const std::vector<double> & query_keys)
 {
   // throw exception for invalid arguments
-  const auto validated_query_keys = interpolation_utils::validateKeys(base_keys, query_keys);
-  interpolation_utils::validateKeysAndValues(base_keys, base_values);
+  const auto validated_query_keys = validateKeys(base_keys, query_keys);
+  validateKeysAndValues(base_keys, base_values);
 
   // calculate linear interpolation
   std::vector<double> query_values;
@@ -56,4 +56,4 @@ double lerp(
 {
   return lerp(base_keys, base_values, std::vector<double>{query_key}).front();
 }
-}  // namespace interpolation
+}  // namespace autoware::interpolation

common/interpolation/src/spherical_linear_interpolation.cpp → common/autoware_interpolation/src/spherical_linear_interpolation.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "interpolation/spherical_linear_interpolation.hpp"
+#include "autoware/interpolation/spherical_linear_interpolation.hpp"
 
-namespace interpolation
+namespace autoware::interpolation
 {
 geometry_msgs::msg::Quaternion slerp(
   const geometry_msgs::msg::Quaternion & src_quat, const geometry_msgs::msg::Quaternion & dst_quat,
@@ -34,8 +34,8 @@ std::vector<geometry_msgs::msg::Quaternion> slerp(
   const std::vector<double> & query_keys)
 {
   // throw exception for invalid arguments
-  const auto validated_query_keys = interpolation_utils::validateKeys(base_keys, query_keys);
-  interpolation_utils::validateKeysAndValues(base_keys, base_values);
+  const auto validated_query_keys = validateKeys(base_keys, query_keys);
+  validateKeysAndValues(base_keys, base_values);
 
   // calculate linear interpolation
   std::vector<geometry_msgs::msg::Quaternion> query_values;
@@ -68,4 +68,4 @@ geometry_msgs::msg::Quaternion lerpOrientation(
   const auto q_interpolated = q_from.slerp(q_to, ratio);
   return tf2::toMsg(q_interpolated);
 }
-}  // namespace interpolation
+}  // namespace autoware::interpolation

common/interpolation/src/spline_interpolation.cpp → common/autoware_interpolation/src/spline_interpolation.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "interpolation/spline_interpolation.hpp"
+#include "autoware/interpolation/spline_interpolation.hpp"
 
 #include <vector>
 
-namespace
+namespace autoware::interpolation
 {
 // solve Ax = d
 // where A is tridiagonal matrix
@@ -77,10 +77,7 @@ inline std::vector<double> solveTridiagonalMatrixAlgorithm(const TDMACoef & tdma
 
   return x;
 }
-}  // namespace
 
-namespace interpolation
-{
 std::vector<double> spline(
   const std::vector<double> & base_keys, const std::vector<double> & base_values,
   const std::vector<double> & query_keys)
@@ -164,13 +161,12 @@ std::vector<double> splineByAkima(
   }
   return res;
 }
-}  // namespace interpolation
 
 void SplineInterpolation::calcSplineCoefficients(
   const std::vector<double> & base_keys, const std::vector<double> & base_values)
 {
   // throw exceptions for invalid arguments
-  interpolation_utils::validateKeysAndValues(base_keys, base_values);
+  validateKeysAndValues(base_keys, base_values);
 
   const size_t num_base = base_keys.size();  // N+1
 
@@ -204,7 +200,7 @@ void SplineInterpolation::calcSplineCoefficients(
   v.push_back(0.0);
 
   // calculate a, b, c, d of spline coefficients
-  multi_spline_coef_ = interpolation::MultiSplineCoef{num_base - 1};  // N
+  multi_spline_coef_ = MultiSplineCoef{num_base - 1};  // N
   for (size_t i = 0; i < num_base - 1; ++i) {
     multi_spline_coef_.a[i] = (v[i + 1] - v[i]) / 6.0 / diff_keys[i];
     multi_spline_coef_.b[i] = v[i] / 2.0;
@@ -220,7 +216,7 @@ std::vector<double> SplineInterpolation::getSplineInterpolatedValues(
   const std::vector<double> & query_keys) const
 {
   // throw exceptions for invalid arguments
-  const auto validated_query_keys = interpolation_utils::validateKeys(base_keys_, query_keys);
+  const auto validated_query_keys = validateKeys(base_keys_, query_keys);
 
   const auto & a = multi_spline_coef_.a;
   const auto & b = multi_spline_coef_.b;
@@ -245,7 +241,7 @@ std::vector<double> SplineInterpolation::getSplineInterpolatedDiffValues(
   const std::vector<double> & query_keys) const
 {
   // throw exceptions for invalid arguments
-  const auto validated_query_keys = interpolation_utils::validateKeys(base_keys_, query_keys);
+  const auto validated_query_keys = validateKeys(base_keys_, query_keys);
 
   const auto & a = multi_spline_coef_.a;
   const auto & b = multi_spline_coef_.b;
@@ -269,7 +265,7 @@ std::vector<double> SplineInterpolation::getSplineInterpolatedQuadDiffValues(
   const std::vector<double> & query_keys) const
 {
   // throw exceptions for invalid arguments
-  const auto validated_query_keys = interpolation_utils::validateKeys(base_keys_, query_keys);
+  const auto validated_query_keys = validateKeys(base_keys_, query_keys);
 
   const auto & a = multi_spline_coef_.a;
   const auto & b = multi_spline_coef_.b;
@@ -287,3 +283,4 @@ std::vector<double> SplineInterpolation::getSplineInterpolatedQuadDiffValues(
 
   return res;
 }
+}  // namespace autoware::interpolation