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feat(motion_utils): add resample utils (autowarefoundation#1867)
* feat(motion_utils): add resample utils Signed-off-by: yutaka <purewater0901@gmail.com> * use motion utils overlap threshold Signed-off-by: yutaka <purewater0901@gmail.com> * fix tests Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>
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common/motion_utils/include/motion_utils/resample/resample_utils.hpp
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| // 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. | ||
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| #ifndef MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_ | ||
| #define MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_ | ||
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| #include <motion_utils/constants.hpp> | ||
| #include <motion_utils/trajectory/trajectory.hpp> | ||
| #include <tier4_autoware_utils/geometry/geometry.hpp> | ||
| #include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp> | ||
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| #include <vector> | ||
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| namespace resample_utils | ||
| { | ||
| constexpr double CLOSE_S_THRESHOLD = 1e-6; | ||
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| template <class T> | ||
| bool validate_size(const T & points) | ||
| { | ||
| if (points.size() < 2) { | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
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| template <class T> | ||
| bool validate_resampling_range(const T & points, const std::vector<double> & resampling_intervals) | ||
| { | ||
| const double points_length = motion_utils::calcArcLength(points); | ||
| if (points_length < resampling_intervals.back()) { | ||
| return false; | ||
| } | ||
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| return true; | ||
| } | ||
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| template <class T> | ||
| bool validate_points_duplication(const T & points) | ||
| { | ||
| for (size_t i = 0; i < points.size() - 1; ++i) { | ||
| const auto & curr_pt = tier4_autoware_utils::getPoint(points.at(i)); | ||
| const auto & next_pt = tier4_autoware_utils::getPoint(points.at(i + 1)); | ||
| const double ds = tier4_autoware_utils::calcDistance2d(curr_pt, next_pt); | ||
| if (ds < CLOSE_S_THRESHOLD) { | ||
| return false; | ||
| } | ||
| } | ||
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| return true; | ||
| } | ||
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| template <class T> | ||
| bool validate_arguments(const T & input_points, const std::vector<double> & resampling_intervals) | ||
| { | ||
| // Check size of the arguments | ||
| if (!validate_size(input_points)) { | ||
| std::cerr << "The number of input points is less than 2" << std::endl; | ||
| return false; | ||
| } else if (!validate_size(resampling_intervals)) { | ||
| std::cerr << "The number of resampling intervals is less than 2" << std::endl; | ||
| return false; | ||
| } | ||
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| // Check resampling range | ||
| if (!validate_resampling_range(input_points, resampling_intervals)) { | ||
| std::cerr << "resampling interval is longer than input points" << std::endl; | ||
| return false; | ||
| } | ||
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| // Check duplication | ||
| if (!validate_points_duplication(input_points)) { | ||
| std::cerr << "input points has some duplicated points" << std::endl; | ||
| return false; | ||
| } | ||
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| return true; | ||
| } | ||
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| template <class T> | ||
| bool validate_arguments(const T & input_points, const double resampling_interval) | ||
| { | ||
| // Check size of the arguments | ||
| if (!validate_size(input_points)) { | ||
| std::cerr << "The number of input points is less than 2" << std::endl; | ||
| return false; | ||
| } | ||
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| // check resampling interval | ||
| if (resampling_interval < motion_utils::overlap_threshold) { | ||
| std::cerr << "resampling interval is less than " << motion_utils::overlap_threshold | ||
| << std::endl; | ||
| return false; | ||
| } | ||
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| // Check duplication | ||
| if (!validate_points_duplication(input_points)) { | ||
| std::cerr << "input points has some duplicated points" << std::endl; | ||
| return false; | ||
| } | ||
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| return true; | ||
| } | ||
| } // namespace resample_utils | ||
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| #endif // MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_ |
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