From 1a1a18afc0dd659c8c28558d0ed0d2467aafd2c1 Mon Sep 17 00:00:00 2001 From: Junya Sasaki Date: Thu, 23 Jan 2025 17:35:33 +0900 Subject: [PATCH] feat: apply `autoware_` prefix for `simple_planning_simulator` (#9995) * feat(simple_planning_simulator): apply `autoware_` prefix (see below): Note: * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. * The changes will follow the Autoware's guideline as below: - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder Signed-off-by: Junya Sasaki * rename(simple_planning_simulator): move headers under `include/autoware`: * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit Signed-off-by: Junya Sasaki * fix(simple_planning_simulator): fix include header paths * To follow the previous commit Signed-off-by: Junya Sasaki * rename: `simple_planning_simulator` => `autoware_simple_planning_simulator` Signed-off-by: Junya Sasaki * bug(autoware_simple_planning_simulator): fix missing changes Signed-off-by: Junya Sasaki * style(pre-commit): autofix * bug(autoware_simple_planning_simulator): fix errors in build and tests * I had to run after `rm -rf install build`, ... sorry Signed-off-by: Junya Sasaki * style(pre-commit): autofix * Fixed NOLINT Signed-off-by: Shintaro Sakoda * Added NOLINT Signed-off-by: Shintaro Sakoda * Fixed to autoware_simple_planning_simulator Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Junya Sasaki Signed-off-by: Shintaro Sakoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Sakoda --- .github/CODEOWNERS | 2 +- .../launch/simulator.launch.xml | 2 +- launch/tier4_simulator_launch/package.xml | 2 +- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 10 +++--- .../README.md | 2 +- .../data/actuation_cmd_map/accel_map.csv | 0 .../data/actuation_cmd_map/brake_map.csv | 0 .../data/actuation_cmd_map/steer_map.csv | 0 .../docs/actuation_cmd_sim.md | 0 .../simple_planning_simulator_core.hpp | 19 +++++------ .../utils/csv_loader.hpp | 13 +++++--- .../utils/mechanical_controller.hpp | 12 +++---- .../vehicle_model/sim_model.hpp | 30 ++++++++++++++++++ .../vehicle_model/sim_model_actuation_cmd.hpp | 23 ++++++++------ .../sim_model_delay_steer_acc.hpp | 15 ++++++--- .../sim_model_delay_steer_acc_geared.hpp | 16 +++++++--- ...l_delay_steer_acc_geared_wo_fall_guard.hpp | 18 +++++++---- .../sim_model_delay_steer_map_acc_geared.hpp | 18 +++++++---- .../sim_model_delay_steer_vel.hpp | 16 +++++++--- .../sim_model_ideal_steer_acc.hpp | 15 ++++++--- .../sim_model_ideal_steer_acc_geared.hpp | 15 ++++++--- .../sim_model_ideal_steer_vel.hpp | 16 +++++++--- .../vehicle_model/sim_model_interface.hpp | 13 +++++--- .../sim_model_learned_steer_vel.hpp | 15 ++++++--- .../visibility_control.hpp | 8 ++--- .../simple_planning_simulator.launch.py | 13 ++++---- .../media/acceleration_map.svg | 0 .../media/mechanical_controller.drawio.svg | 0 ...nical_controller_system_identification.png | Bin .../media/pitch-calculation.drawio.svg | 0 .../media/vgr_sim.drawio.svg | 0 .../package.xml | 3 +- .../param/acceleration_map.csv | 0 ...mple_planning_simulator_default.param.yaml | 0 ...ing_simulator_mechanical_sample.param.yaml | 0 .../param/vehicle_characteristics.param.yaml | 0 .../simple_planning_simulator_core.cpp | 22 +++++-------- .../utils/csv_loader.cpp | 9 ++++-- .../utils/mechanical_controller.cpp | 8 ++--- .../vehicle_model/sim_model_actuation_cmd.cpp | 8 +++-- .../sim_model_delay_steer_acc.cpp | 9 ++++-- .../sim_model_delay_steer_acc_geared.cpp | 9 ++++-- ...l_delay_steer_acc_geared_wo_fall_guard.cpp | 9 ++++-- .../sim_model_delay_steer_map_acc_geared.cpp | 9 ++++-- .../sim_model_delay_steer_vel.cpp | 9 ++++-- .../sim_model_ideal_steer_acc.cpp | 9 ++++-- .../sim_model_ideal_steer_acc_geared.cpp | 9 ++++-- .../sim_model_ideal_steer_vel.cpp | 9 ++++-- .../vehicle_model/sim_model_interface.cpp | 9 ++++-- .../sim_model_learned_steer_vel.cpp | 9 ++++-- .../test/actuation_cmd_map/accel_map.csv | 0 .../test/actuation_cmd_map/brake_map.csv | 0 .../test/actuation_cmd_map/steer_map.csv | 0 .../test/test_simple_planning_simulator.cpp | 15 +++++---- .../vehicle_model/sim_model.hpp | 30 ------------------ 56 files changed, 297 insertions(+), 181 deletions(-) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/CHANGELOG.rst (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/CMakeLists.txt (85%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/README.md (99%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/data/actuation_cmd_map/accel_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/data/actuation_cmd_map/brake_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/data/actuation_cmd_map/steer_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/docs/actuation_cmd_sim.md (100%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/simple_planning_simulator_core.hpp (96%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/utils/csv_loader.hpp (78%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/utils/mechanical_controller.hpp (92%) create mode 100644 simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp (94%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp (90%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp (89%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp (88%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp (90%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp (89%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp (80%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp (83%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp (80%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_interface.hpp (91%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp (86%) rename simulator/{simple_planning_simulator/include => autoware_simple_planning_simulator/include/autoware}/simple_planning_simulator/visibility_control.hpp (85%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/launch/simple_planning_simulator.launch.py (95%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/media/acceleration_map.svg (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/media/mechanical_controller.drawio.svg (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/media/mechanical_controller_system_identification.png (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/media/pitch-calculation.drawio.svg (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/media/vgr_sim.drawio.svg (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/package.xml (94%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/param/acceleration_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/param/simple_planning_simulator_default.param.yaml (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/param/simple_planning_simulator_mechanical_sample.param.yaml (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/param/vehicle_characteristics.param.yaml (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/simple_planning_simulator_core.cpp (98%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/utils/csv_loader.cpp (94%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/utils/mechanical_controller.cpp (97%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp (98%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp (94%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp (96%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp (96%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp (95%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp (94%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp (88%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp (93%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp (88%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp (87%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp (90%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/test/actuation_cmd_map/accel_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/test/actuation_cmd_map/brake_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/test/actuation_cmd_map/steer_map.csv (100%) rename simulator/{simple_planning_simulator => autoware_simple_planning_simulator}/test/test_simple_planning_simulator.cpp (98%) delete mode 100644 simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 42627e0671475..7e76a883c36e9 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -204,7 +204,7 @@ simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail. simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp simulator/fault_injection/** keisuke.shima@tier4.jp simulator/learning_based_vehicle_model/** maxime.clement@tier4.jp nagy.tomas@tier4.jp -simulator/simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp kotaro.yoshimoto@tier4.jp +simulator/autoware_simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp kotaro.yoshimoto@tier4.jp junya.sasaki@tier4.jp simulator/tier4_dummy_object_rviz_plugin/** yukihiro.saito@tier4.jp simulator/autoware_vehicle_door_simulator/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp system/autoware_component_monitor/** baris@leodrive.ai memin@leodrive.ai yavuz@leodrive.ai diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index fa457a31f8c43..1255061a474db 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -219,7 +219,7 @@ - + diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index fba24d0a5d525..f12209f4ab3ef 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -15,8 +15,8 @@ autoware_cmake autoware_fault_injection + autoware_simple_planning_simulator dummy_perception_publisher - simple_planning_simulator ament_lint_auto autoware_lint_common diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/autoware_simple_planning_simulator/CHANGELOG.rst similarity index 100% rename from simulator/simple_planning_simulator/CHANGELOG.rst rename to simulator/autoware_simple_planning_simulator/CHANGELOG.rst diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/autoware_simple_planning_simulator/CMakeLists.txt similarity index 85% rename from simulator/simple_planning_simulator/CMakeLists.txt rename to simulator/autoware_simple_planning_simulator/CMakeLists.txt index 6acb74342c90f..ab4ac8218e193 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/autoware_simple_planning_simulator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(simple_planning_simulator) +project(autoware_simple_planning_simulator) find_package(autoware_cmake REQUIRED) find_package(Python3 COMPONENTS Interpreter Development) @@ -8,8 +8,8 @@ autoware_package() # Component ament_auto_add_library(${PROJECT_NAME} SHARED - include/simple_planning_simulator/simple_planning_simulator_core.hpp - include/simple_planning_simulator/visibility_control.hpp + include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp + include/autoware/simple_planning_simulator/visibility_control.hpp src/simple_planning_simulator/simple_planning_simulator_core.cpp src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp @@ -28,8 +28,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS}) # Node executable rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "simulation::simple_planning_simulator::SimplePlanningSimulator" - EXECUTABLE ${PROJECT_NAME}_exe + PLUGIN "autoware::simulator::simple_planning_simulator::SimplePlanningSimulator" + EXECUTABLE ${PROJECT_NAME}_node ) if(BUILD_TESTING) diff --git a/simulator/simple_planning_simulator/README.md b/simulator/autoware_simple_planning_simulator/README.md similarity index 99% rename from simulator/simple_planning_simulator/README.md rename to simulator/autoware_simple_planning_simulator/README.md index cd362c0115358..385f4aa1c7eab 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/autoware_simple_planning_simulator/README.md @@ -1,4 +1,4 @@ -# simple_planning_simulator +# autoware_simple_planning_simulator ## Purpose / Use cases diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv b/simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/accel_map.csv similarity index 100% rename from simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv rename to simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/accel_map.csv diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv b/simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/brake_map.csv similarity index 100% rename from simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv rename to simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/brake_map.csv diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv b/simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/steer_map.csv similarity index 100% rename from simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv rename to simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/steer_map.csv diff --git a/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md b/simulator/autoware_simple_planning_simulator/docs/actuation_cmd_sim.md similarity index 100% rename from simulator/simple_planning_simulator/docs/actuation_cmd_sim.md rename to simulator/autoware_simple_planning_simulator/docs/actuation_cmd_sim.md diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp similarity index 96% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp index 3e54bca245f82..26a849dddc278 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_ +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/visibility_control.hpp" #include "rclcpp/rclcpp.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" -#include "simple_planning_simulator/visibility_control.hpp" #include "tier4_api_utils/tier4_api_utils.hpp" #include "autoware_control_msgs/msg/control.hpp" @@ -57,9 +57,7 @@ #include #include -namespace simulation -{ -namespace simple_planning_simulator +namespace autoware::simulator::simple_planning_simulator { using autoware_control_msgs::msg::Control; @@ -406,7 +404,6 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node */ void publish_tf(const Odometry & odometry); }; -} // namespace simple_planning_simulator -} // namespace simulation +} // namespace autoware::simulator::simple_planning_simulator -#endif // SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_ +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/csv_loader.hpp similarity index 78% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/csv_loader.hpp index a8851640fb62b..2965327beaacc 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/csv_loader.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 Autoware Foundation +// Copyright 2025 Autoware Foundation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_ #include #include @@ -21,6 +21,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + using Table = std::vector>; using Map = std::vector>; class CSVLoader @@ -40,4 +43,6 @@ class CSVLoader std::string csv_path_; }; -#endif // SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/mechanical_controller.hpp similarity index 92% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/mechanical_controller.hpp index fcb8d41dd72b5..7850d74d45036 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/mechanical_controller.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ #include #include @@ -21,7 +21,7 @@ #include #include -namespace autoware::simple_planning_simulator::utils::mechanical_controller +namespace autoware::simulator::simple_planning_simulator { using DelayBuffer = std::deque>; @@ -203,6 +203,6 @@ class MechanicalController const SteeringDynamics & dynamics) const; }; -} // namespace autoware::simple_planning_simulator::utils::mechanical_controller +} // namespace autoware::simulator::simple_planning_simulator -#endif // SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_ diff --git a/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp new file mode 100644 index 0000000000000..d7ee90fdf5634 --- /dev/null +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp @@ -0,0 +1,30 @@ +// Copyright 2025 The Autoware Foundation. +// +// 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 AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ + +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp" + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp similarity index 94% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp index 25fac72d283ee..edb52570b0a19 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ #include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/simple_planning_simulator/utils/csv_loader.hpp" +#include "autoware/simple_planning_simulator/utils/mechanical_controller.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include "eigen3/Eigen/Core" #include "eigen3/Eigen/LU" -#include "simple_planning_simulator/utils/csv_loader.hpp" -#include "simple_planning_simulator/utils/mechanical_controller.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -30,8 +30,11 @@ #include #include -using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalController; -using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalParams; +namespace autoware::simulator::simple_planning_simulator +{ + +using autoware::simulator::simple_planning_simulator::MechanicalController; +using autoware::simulator::simple_planning_simulator::MechanicalParams; /** * @class ActuationMap @@ -397,4 +400,6 @@ class SimModelActuationCmdMechanical : public SimModelActuationCmdVGR double prev_steer_tire_des_{0.0}; // }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp similarity index 90% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp index f43abd8572874..6437cdc4cdbcb 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -24,6 +24,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + class SimModelDelaySteerAcc : public SimModelInterface { public: @@ -149,4 +152,6 @@ class SimModelDelaySteerAcc : public SimModelInterface Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp similarity index 89% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp index 1ecb74be41780..d43c86669f2bf 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ // NOLINT +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ // NOLINT -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -24,6 +24,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + class SimModelDelaySteerAccGeared : public SimModelInterface { public: @@ -160,4 +163,7 @@ class SimModelDelaySteerAccGeared : public SimModelInterface const double dt); }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +// NOLINTNEXTLINE +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp similarity index 88% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp index 83f574554fe76..300e82b6facb1 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -24,6 +24,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface { public: @@ -145,6 +148,7 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; }; -// clang-format off -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ // NOLINT -// clang-format on +} // namespace autoware::simulator::simple_planning_simulator + +// NOLINTNEXTLINE +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp similarity index 90% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp index 381b6ae9da4e2..6b7323db2d9fb 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,14 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ // NOLINT +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ // NOLINT #include "autoware/interpolation/linear_interpolation.hpp" +#include "autoware/simple_planning_simulator/utils/csv_loader.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include "eigen3/Eigen/Core" #include "eigen3/Eigen/LU" -#include "simple_planning_simulator/utils/csv_loader.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -27,6 +27,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + class AccelerationMap { public: @@ -209,4 +212,7 @@ class SimModelDelaySteerMapAccGeared : public SimModelInterface const double dt); }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +// NOLINTNEXTLINE +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp similarity index 89% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp index 61a9e8d0a5643..d878ef01c0536 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -23,6 +23,10 @@ #include #include #include + +namespace autoware::simulator::simple_planning_simulator +{ + /** * @class SimModelDelaySteerVel * @brief calculate delay steering dynamics @@ -149,4 +153,6 @@ class SimModelDelaySteerVel : public SimModelInterface Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp similarity index 80% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp index e4fcaa59f1294..86e33b13f0e3d 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,16 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include #include +namespace autoware::simulator::simple_planning_simulator +{ + /** * @class SimModelIdealSteerAcc * @brief calculate ideal steering dynamics @@ -103,4 +106,6 @@ class SimModelIdealSteerAcc : public SimModelInterface Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp similarity index 83% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp index c73cc54f4ea99..158326dbbde32 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,16 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include #include +namespace autoware::simulator::simple_planning_simulator +{ + /** * @class SimModelIdealSteerAccGeared * @brief calculate ideal steering dynamics @@ -115,4 +118,6 @@ class SimModelIdealSteerAccGeared : public SimModelInterface const double dt); }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp similarity index 80% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp index 09046cab89dc4..4febc830f33b5 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,15 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include #include + +namespace autoware::simulator::simple_planning_simulator +{ + /** * @class SimModelIdealSteerVel * @brief calculate ideal steering dynamics @@ -104,4 +108,6 @@ class SimModelIdealSteerVel : public SimModelInterface Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override; }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp similarity index 91% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp index bab4531484aa6..5af19c00e4c07 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ #include @@ -22,6 +22,9 @@ #include +namespace autoware::simulator::simple_planning_simulator +{ + /** * @class SimModelInterface * @brief simple_planning_simulator vehicle model class to calculate vehicle dynamics @@ -178,4 +181,6 @@ class SimModelInterface const Eigen::VectorXd & state, const Eigen::VectorXd & input) = 0; }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp similarity index 86% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp index c6301db42620e..124c0d2532069 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include "learning_based_vehicle_model/interconnected_model.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include #include @@ -27,6 +27,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + /** * @class SimModelLearnedSteerVel * @brief calculate delay steering dynamics @@ -141,4 +144,6 @@ class SimModelLearnedSteerVel : public SimModelInterface /*delay steer velocity* } }; -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ +} // namespace autoware::simulator::simple_planning_simulator + +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/visibility_control.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/visibility_control.hpp similarity index 85% rename from simulator/simple_planning_simulator/include/simple_planning_simulator/visibility_control.hpp rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/visibility_control.hpp index 107367b286f80..2edd9467532fa 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/visibility_control.hpp +++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/visibility_control.hpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation +// Copyright 2025 The Autoware Foundation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_ +#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_ +#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_ #if defined(__WIN32) #if defined(PLANNING_SIMULATOR_BUILDING_DLL) || defined(PLANNING_SIMULATOR_EXPORTS) @@ -35,4 +35,4 @@ #error "Unsupported Build Configuration" #endif // defined(_WINDOWS) -#endif // SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_ +#endif // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_ diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/autoware_simple_planning_simulator/launch/simple_planning_simulator.launch.py similarity index 95% rename from simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py rename to simulator/autoware_simple_planning_simulator/launch/simple_planning_simulator.launch.py index aed088de9fd22..df93acc6e0ff7 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/autoware_simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -1,4 +1,4 @@ -# Copyright 2021 The Autoware Foundation. +# Copyright 2025 The Autoware Foundation. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -87,9 +87,8 @@ def launch_setup(context, *args, **kwargs): ) simple_planning_simulator_node = Node( - package="simple_planning_simulator", - executable="simple_planning_simulator_exe", - name="simple_planning_simulator", + package="autoware_simple_planning_simulator", + executable="autoware_simple_planning_simulator_node", namespace="simulation", output="screen", parameters=[ @@ -151,7 +150,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg( "vehicle_characteristics_param_file", [ - FindPackageShare("simple_planning_simulator"), + FindPackageShare("autoware_simple_planning_simulator"), "/param/vehicle_characteristics.param.yaml", ], "path to config file for vehicle characteristics", @@ -160,7 +159,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg( "simulator_model_param_file", [ - FindPackageShare("simple_planning_simulator"), + FindPackageShare("autoware_simple_planning_simulator"), "/param/simple_planning_simulator_default.param.yaml", ], "path to config file for simulator_model", @@ -169,7 +168,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg( "acceleration_param_file", [ - FindPackageShare("simple_planning_simulator"), + FindPackageShare("autoware_simple_planning_simulator"), "/param/acceleration_map.csv", ], ) diff --git a/simulator/simple_planning_simulator/media/acceleration_map.svg b/simulator/autoware_simple_planning_simulator/media/acceleration_map.svg similarity index 100% rename from simulator/simple_planning_simulator/media/acceleration_map.svg rename to simulator/autoware_simple_planning_simulator/media/acceleration_map.svg diff --git a/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg b/simulator/autoware_simple_planning_simulator/media/mechanical_controller.drawio.svg similarity index 100% rename from simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg rename to simulator/autoware_simple_planning_simulator/media/mechanical_controller.drawio.svg diff --git a/simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png b/simulator/autoware_simple_planning_simulator/media/mechanical_controller_system_identification.png similarity index 100% rename from simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png rename to simulator/autoware_simple_planning_simulator/media/mechanical_controller_system_identification.png diff --git a/simulator/simple_planning_simulator/media/pitch-calculation.drawio.svg b/simulator/autoware_simple_planning_simulator/media/pitch-calculation.drawio.svg similarity index 100% rename from simulator/simple_planning_simulator/media/pitch-calculation.drawio.svg rename to simulator/autoware_simple_planning_simulator/media/pitch-calculation.drawio.svg diff --git a/simulator/simple_planning_simulator/media/vgr_sim.drawio.svg b/simulator/autoware_simple_planning_simulator/media/vgr_sim.drawio.svg similarity index 100% rename from simulator/simple_planning_simulator/media/vgr_sim.drawio.svg rename to simulator/autoware_simple_planning_simulator/media/vgr_sim.drawio.svg diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/autoware_simple_planning_simulator/package.xml similarity index 94% rename from simulator/simple_planning_simulator/package.xml rename to simulator/autoware_simple_planning_simulator/package.xml index 5bd7a2f74eacc..790e48cd80cc1 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/autoware_simple_planning_simulator/package.xml @@ -1,7 +1,7 @@ - simple_planning_simulator + autoware_simple_planning_simulator 0.40.0 simple_planning_simulator as a ROS 2 node Takamasa Horibe @@ -10,6 +10,7 @@ Mamoru Sobue Zulfaqar Azmi Temkei Kem + Junya Sasaki Kotaro Yoshimoto Apache License 2.0 diff --git a/simulator/simple_planning_simulator/param/acceleration_map.csv b/simulator/autoware_simple_planning_simulator/param/acceleration_map.csv similarity index 100% rename from simulator/simple_planning_simulator/param/acceleration_map.csv rename to simulator/autoware_simple_planning_simulator/param/acceleration_map.csv diff --git a/simulator/simple_planning_simulator/param/simple_planning_simulator_default.param.yaml b/simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_default.param.yaml similarity index 100% rename from simulator/simple_planning_simulator/param/simple_planning_simulator_default.param.yaml rename to simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_default.param.yaml diff --git a/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml b/simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml similarity index 100% rename from simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml rename to simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml diff --git a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml b/simulator/autoware_simple_planning_simulator/param/vehicle_characteristics.param.yaml similarity index 100% rename from simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml rename to simulator/autoware_simple_planning_simulator/param/vehicle_characteristics.param.yaml diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp similarity index 98% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 8c95e144b3f8d..b03de1906db78 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/simple_planning_simulator_core.hpp" +#include "autoware/simple_planning_simulator/simple_planning_simulator_core.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" #include "autoware/universe_utils/ros/update_param.hpp" #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp" #include "rclcpp_components/register_node_macro.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" #include #include @@ -43,7 +43,7 @@ using namespace std::literals::chrono_literals; -namespace +namespace autoware::simulator::simple_planning_simulator { autoware_vehicle_msgs::msg::VelocityReport to_velocity_report( @@ -91,12 +91,6 @@ std::vector convert_centerline_to_points( } return centerline_points; } -} // namespace - -namespace simulation -{ -namespace simple_planning_simulator -{ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & options) : Node("simple_planning_simulator", options), tf_buffer_(get_clock()), tf_listener_(tf_buffer_) @@ -957,7 +951,7 @@ void SimplePlanningSimulator::publish_actuation_status() actuation_status.value().header.frame_id = simulated_frame_id_; pub_actuation_status_->publish(actuation_status.value()); } -} // namespace simple_planning_simulator -} // namespace simulation +} // namespace autoware::simulator::simple_planning_simulator -RCLCPP_COMPONENTS_REGISTER_NODE(simulation::simple_planning_simulator::SimplePlanningSimulator) +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::simulator::simple_planning_simulator::SimplePlanningSimulator) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp similarity index 94% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp index fa1f7978a798c..0a4f03c959ff0 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 Tier IV, Inc. All rights reserved. +// Copyright 2025 Tier IV, Inc. All rights reserved. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/utils/csv_loader.hpp" +#include "autoware/simple_planning_simulator/utils/csv_loader.hpp" #include #include @@ -21,6 +21,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + CSVLoader::CSVLoader(const std::string & csv_path) { csv_path_ = csv_path; @@ -152,3 +155,5 @@ double CSVLoader::clampValue(const double val, const std::vector & range } return val; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp similarity index 97% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp index 0977cd9e25a92..84f4ff4ea0ba4 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/utils/mechanical_controller.hpp" +#include "autoware/simple_planning_simulator/utils/mechanical_controller.hpp" #include #include @@ -24,7 +24,7 @@ #include #include -namespace autoware::simple_planning_simulator::utils::mechanical_controller +namespace autoware::simulator::simple_planning_simulator { using DelayBuffer = std::deque>; @@ -349,4 +349,4 @@ StepResult MechanicalController::run_one_step( return {delay_buffer_new, pid_error, d_state, false}; } -} // namespace autoware::simple_planning_simulator::utils::mechanical_controller +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp similarity index 98% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp index bfcf571d8c09b..4db0b0856ea25 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" #include "autoware_vehicle_msgs/msg/gear_command.hpp" @@ -20,6 +20,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + bool ActuationMap::readActuationMapFromCSV(const std::string & csv_path, const bool validation) { CSVLoader csv(csv_path); @@ -517,3 +520,4 @@ void SimModelActuationCmdMechanical::setState(const Eigen::VectorXd & state) state_ = state; } /* ---------------------------------------- */ +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp similarity index 94% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp index 6a9b5c65d4760..fbe4db941e8de 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp" #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelDelaySteerAcc::SimModelDelaySteerAcc( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, @@ -135,3 +138,5 @@ Eigen::VectorXd SimModelDelaySteerAcc::calcModel( return d_state; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp similarity index 96% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp index 88b0e6c639fd1..8db40f7cc5298 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp" #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelDelaySteerAccGeared::SimModelDelaySteerAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, @@ -180,3 +183,5 @@ void SimModelDelaySteerAccGeared::updateStateWithGear( setStopState(); } } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp similarity index 96% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp index 78cfa6caeb946..5e26132aa3e5e 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp" #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelDelaySteerAccGearedWoFallGuard::SimModelDelaySteerAccGearedWoFallGuard( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, @@ -181,3 +184,5 @@ Eigen::VectorXd SimModelDelaySteerAccGearedWoFallGuard::calcModel( return d_state; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp similarity index 95% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp index ffef5ab7b236c..dc576872a6c18 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,13 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp" #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelDelaySteerMapAccGeared::SimModelDelaySteerMapAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, @@ -168,3 +171,5 @@ void SimModelDelaySteerMapAccGeared::updateStateWithGear( state(IDX::ACCX) = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5); } } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp similarity index 94% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp index 1ee08fad566f5..66d42d4719bf0 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,10 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp" #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelDelaySteerVel::SimModelDelaySteerVel( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double vx_delay, double vx_time_constant, double steer_delay, @@ -132,3 +135,5 @@ Eigen::VectorXd SimModelDelaySteerVel::calcModel( return d_state; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp similarity index 88% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp index 2edf43f0a743c..f5512c4bdb4b3 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp" + +namespace autoware::simulator::simple_planning_simulator +{ SimModelIdealSteerAcc::SimModelIdealSteerAcc(double wheelbase) : SimModelInterface(4 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase) @@ -72,3 +75,5 @@ Eigen::VectorXd SimModelIdealSteerAcc::calcModel( return d_state; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp similarity index 93% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp index 46538778bd1b1..e06ca161d36e0 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp" #include "autoware_vehicle_msgs/msg/gear_command.hpp" #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelIdealSteerAccGeared::SimModelIdealSteerAccGeared(double wheelbase) : SimModelInterface(4 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase), current_acc_(0.0) { @@ -115,3 +118,5 @@ void SimModelIdealSteerAccGeared::updateStateWithGear( // calculate acc from velocity diff current_acc_ = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5); } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp similarity index 88% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp index e43ac4aa8eae5..6009b2f0f3fd5 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp" + +namespace autoware::simulator::simple_planning_simulator +{ SimModelIdealSteerVel::SimModelIdealSteerVel(double wheelbase) : SimModelInterface(3 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase) @@ -72,3 +75,5 @@ Eigen::VectorXd SimModelIdealSteerVel::calcModel( return d_state; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp similarity index 87% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp index 8d17f72e0c3b3..33135f40c4c87 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp" + +namespace autoware::simulator::simple_planning_simulator +{ SimModelInterface::SimModelInterface(int dim_x, int dim_u) : dim_x_(dim_x), dim_u_(dim_u) { @@ -57,3 +60,5 @@ uint8_t SimModelInterface::getGear() const { return gear_; } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp similarity index 90% rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp index 4ddcc0e498b70..2d9c8d8ab0e0e 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp +++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 The Autoware Foundation. +// Copyright 2025 The Autoware Foundation. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp" +#include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp" #include "learning_based_vehicle_model/interconnected_model.hpp" @@ -21,6 +21,9 @@ #include #include +namespace autoware::simulator::simple_planning_simulator +{ + SimModelLearnedSteerVel::SimModelLearnedSteerVel( double dt, std::vector model_python_paths, std::vector model_param_paths, std::vector model_class_names) @@ -89,3 +92,5 @@ void SimModelLearnedSteerVel::update(const double & dt) current_ax_ = (input_(IDX_U::VX_DES) - prev_vx_) / dt; prev_vx_ = input_(IDX_U::VX_DES); } + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv b/simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/accel_map.csv similarity index 100% rename from simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv rename to simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/accel_map.csv diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv b/simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/brake_map.csv similarity index 100% rename from simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv rename to simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/brake_map.csv diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv b/simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/steer_map.csv similarity index 100% rename from simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv rename to simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/steer_map.csv diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/autoware_simple_planning_simulator/test/test_simple_planning_simulator.cpp similarity index 98% rename from simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp rename to simulator/autoware_simple_planning_simulator/test/test_simple_planning_simulator.cpp index 0baa3302f86c7..afe816ee8944a 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/autoware_simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -1,4 +1,4 @@ -// Copyright 2021 The Autoware Foundation +// Copyright 2025 The Autoware Foundation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -13,8 +13,8 @@ // limitations under the License. #include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware/simple_planning_simulator/simple_planning_simulator_core.hpp" #include "gtest/gtest.h" -#include "simple_planning_simulator/simple_planning_simulator_core.hpp" #include "tf2/utils.h" #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" @@ -32,15 +32,15 @@ #include +namespace autoware::simulator::simple_planning_simulator +{ + using autoware_control_msgs::msg::Control; using autoware_vehicle_msgs::msg::GearCommand; using geometry_msgs::msg::PoseWithCovarianceStamped; using nav_msgs::msg::Odometry; using tier4_vehicle_msgs::msg::ActuationCommandStamped; -using simulation::simple_planning_simulator::InputCommand; -using simulation::simple_planning_simulator::SimplePlanningSimulator; - std::string toStrInfo(const Odometry & o) { const auto & p = o.pose.pose; @@ -317,7 +317,8 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("brake_time_constant", 0.2); node_options.append_parameter_override("convert_accel_cmd", true); node_options.append_parameter_override("convert_brake_cmd", true); - const auto share_dir = ament_index_cpp::get_package_share_directory("simple_planning_simulator"); + const auto share_dir = + ament_index_cpp::get_package_share_directory("autoware_simple_planning_simulator"); const auto accel_map_path = share_dir + "/test/actuation_cmd_map/accel_map.csv"; const auto brake_map_path = share_dir + "/test/actuation_cmd_map/brake_map.csv"; const auto steer_map_path = share_dir + "/test/actuation_cmd_map/steer_map.csv"; @@ -456,3 +457,5 @@ INSTANTIATE_TEST_SUITE_P( std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_STEER_MAP"), std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_VGR"), std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_MECHANICAL"))); + +} // namespace autoware::simulator::simple_planning_simulator diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp deleted file mode 100644 index 52c3825ae1888..0000000000000 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp +++ /dev/null @@ -1,30 +0,0 @@ -// Copyright 2021 The Autoware Foundation. -// -// 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 SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ -#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_ - -#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" -#include "simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp" - -#endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_