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refactor(kalman_filter): prefix package and namespace with autoware
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent ce09907 commit 86f9ba0

29 files changed

+65
-40
lines changed
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(kalman_filter)
2+
project(autoware_kalman_filter)
33

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
@@ -12,18 +12,18 @@ include_directories(
1212
${EIGEN3_INCLUDE_DIR}
1313
)
1414

15-
ament_auto_add_library(kalman_filter SHARED
15+
ament_auto_add_library(${PROJECT_NAME} SHARED
1616
src/kalman_filter.cpp
1717
src/time_delay_kalman_filter.cpp
18-
include/kalman_filter/kalman_filter.hpp
19-
include/kalman_filter/time_delay_kalman_filter.hpp
18+
include/${PROJECT_NAME}/kalman_filter.hpp
19+
include/${PROJECT_NAME}/time_delay_kalman_filter.hpp
2020
)
2121

2222
if(BUILD_TESTING)
2323
file(GLOB_RECURSE test_files test/*.cpp)
24-
ament_add_ros_isolated_gtest(test_kalman_filter ${test_files})
24+
ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
2525

26-
target_link_libraries(test_kalman_filter kalman_filter)
26+
target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
2727
endif()
2828

2929
ament_auto_package()
File renamed without changes.

common/kalman_filter/include/kalman_filter/kalman_filter.hpp common/autoware_kalman_filter/include/autoware_kalman_filter/kalman_filter.hpp

+7-3
Original file line numberDiff line numberDiff line change
@@ -12,12 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KALMAN_FILTER__KALMAN_FILTER_HPP_
16-
#define KALMAN_FILTER__KALMAN_FILTER_HPP_
15+
#ifndef AUTOWARE_KALMAN_FILTER__KALMAN_FILTER_HPP_
16+
#define AUTOWARE_KALMAN_FILTER__KALMAN_FILTER_HPP_
1717

1818
#include <Eigen/Core>
1919
#include <Eigen/LU>
2020

21+
namespace autoware::kalman_filter
22+
{
23+
2124
/**
2225
* @file kalman_filter.h
2326
* @brief kalman filter class
@@ -207,4 +210,5 @@ class KalmanFilter
207210
Eigen::MatrixXd R_; //!< @brief covariance matrix for measurement model y[k] = C * x[k]
208211
Eigen::MatrixXd P_; //!< @brief covariance of estimated state
209212
};
210-
#endif // KALMAN_FILTER__KALMAN_FILTER_HPP_
213+
} // namespace autoware::kalman_filter
214+
#endif // AUTOWARE_KALMAN_FILTER__KALMAN_FILTER_HPP_

common/kalman_filter/include/kalman_filter/time_delay_kalman_filter.hpp common/autoware_kalman_filter/include/autoware_kalman_filter/time_delay_kalman_filter.hpp

+7-4
Original file line numberDiff line numberDiff line change
@@ -12,16 +12,18 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
16-
#define KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
15+
#ifndef AUTOWARE_KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
16+
#define AUTOWARE_KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
1717

18-
#include "kalman_filter/kalman_filter.hpp"
18+
#include "autoware_kalman_filter/kalman_filter.hpp"
1919

2020
#include <Eigen/Core>
2121
#include <Eigen/LU>
2222

2323
#include <iostream>
2424

25+
namespace autoware::kalman_filter
26+
{
2527
/**
2628
* @file time_delay_kalman_filter.h
2729
* @brief kalman filter with delayed measurement class
@@ -83,4 +85,5 @@ class TimeDelayKalmanFilter : public KalmanFilter
8385
int dim_x_; //!< @brief dimension of latest state
8486
int dim_x_ex_; //!< @brief dimension of extended state with dime delay
8587
};
86-
#endif // KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
88+
} // namespace autoware::kalman_filter
89+
#endif // AUTOWARE_KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_

common/kalman_filter/package.xml common/autoware_kalman_filter/package.xml

+1-1
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@@ -1,7 +1,7 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
4-
<name>kalman_filter</name>
4+
<name>autoware_kalman_filter</name>
55
<version>0.1.0</version>
66
<description>The kalman filter package</description>
77
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>

common/kalman_filter/src/kalman_filter.cpp common/autoware_kalman_filter/src/kalman_filter.cpp

+4-1
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@@ -12,8 +12,10 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kalman_filter/kalman_filter.hpp"
15+
#include "autoware_kalman_filter/kalman_filter.hpp"
1616

17+
namespace autoware::kalman_filter
18+
{
1719
KalmanFilter::KalmanFilter()
1820
{
1921
}
@@ -156,3 +158,4 @@ bool KalmanFilter::update(const Eigen::MatrixXd & y)
156158
{
157159
return update(y, C_, R_);
158160
}
161+
} // namespace autoware::kalman_filter

common/kalman_filter/src/time_delay_kalman_filter.cpp common/autoware_kalman_filter/src/time_delay_kalman_filter.cpp

+4-1
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@@ -12,8 +12,10 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kalman_filter/time_delay_kalman_filter.hpp"
15+
#include "autoware_kalman_filter/time_delay_kalman_filter.hpp"
1616

17+
namespace autoware::kalman_filter
18+
{
1719
TimeDelayKalmanFilter::TimeDelayKalmanFilter()
1820
{
1921
}
@@ -102,3 +104,4 @@ bool TimeDelayKalmanFilter::updateWithDelay(
102104

103105
return true;
104106
}
107+
} // namespace autoware::kalman_filter

common/kalman_filter/test/test_kalman_filter.cpp common/autoware_kalman_filter/test/test_kalman_filter.cpp

+3-1
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@@ -12,10 +12,12 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kalman_filter/kalman_filter.hpp"
15+
#include "autoware_kalman_filter/kalman_filter.hpp"
1616

1717
#include <gtest/gtest.h>
1818

19+
using autoware::kalman_filter::KalmanFilter;
20+
1921
TEST(kalman_filter, kf)
2022
{
2123
KalmanFilter kf_;

common/kalman_filter/test/test_time_delay_kalman_filter.cpp common/autoware_kalman_filter/test/test_time_delay_kalman_filter.cpp

+3-1
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@@ -12,10 +12,12 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "kalman_filter/time_delay_kalman_filter.hpp"
15+
#include "autoware_kalman_filter/time_delay_kalman_filter.hpp"
1616

1717
#include <gtest/gtest.h>
1818

19+
using autoware::kalman_filter::TimeDelayKalmanFilter;
20+
1921
TEST(time_delay_kalman_filter, td_kf)
2022
{
2123
TimeDelayKalmanFilter td_kf_;

localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp

+4-2
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@@ -19,8 +19,8 @@
1919
#include "ekf_localizer/state_index.hpp"
2020
#include "ekf_localizer/warning.hpp"
2121

22-
#include <kalman_filter/kalman_filter.hpp>
23-
#include <kalman_filter/time_delay_kalman_filter.hpp>
22+
#include <autoware_kalman_filter/kalman_filter.hpp>
23+
#include <autoware_kalman_filter/time_delay_kalman_filter.hpp>
2424
#include <rclcpp/rclcpp.hpp>
2525

2626
#include <geometry_msgs/msg/pose_stamped.hpp>
@@ -32,6 +32,8 @@
3232
#include <memory>
3333
#include <vector>
3434

35+
using autoware::kalman_filter::TimeDelayKalmanFilter;
36+
3537
struct EKFDiagnosticInfo
3638
{
3739
size_t no_update_count{0};

localization/ekf_localizer/package.xml

+1-1
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@@ -23,11 +23,11 @@
2323

2424
<build_depend>eigen</build_depend>
2525

26+
<depend>autoware_kalman_filter</depend>
2627
<depend>autoware_universe_utils</depend>
2728
<depend>diagnostic_msgs</depend>
2829
<depend>fmt</depend>
2930
<depend>geometry_msgs</depend>
30-
<depend>kalman_filter</depend>
3131
<depend>localization_util</depend>
3232
<depend>nav_msgs</depend>
3333
<depend>rclcpp</depend>

perception/bytetrack/lib/include/strack.h

+3-2
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@@ -38,8 +38,7 @@
3838

3939
#pragma once
4040

41-
// #include "kalman_filter.h"
42-
#include <kalman_filter/kalman_filter.hpp>
41+
#include <autoware_kalman_filter/kalman_filter.hpp>
4342
#include <opencv2/opencv.hpp>
4443

4544
#include <boost/uuid/uuid.hpp>
@@ -49,6 +48,8 @@
4948

5049
enum TrackState { New = 0, Tracked, Lost, Removed };
5150

51+
using autoware::kalman_filter::KalmanFilter;
52+
5253
/** manage one tracklet*/
5354
class STrack
5455
{

perception/bytetrack/package.xml

+1-1
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@@ -15,12 +15,12 @@
1515
<buildtool_export_depend>cudnn_cmake_module</buildtool_export_depend>
1616
<buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
1717

18+
<depend>autoware_kalman_filter</depend>
1819
<depend>autoware_perception_msgs</depend>
1920
<depend>cuda_utils</depend>
2021
<depend>cv_bridge</depend>
2122
<depend>eigen</depend>
2223
<depend>image_transport</depend>
23-
<depend>kalman_filter</depend>
2424
<depend>libboost-system-dev</depend>
2525
<depend>libopencv-dev</depend>
2626
<depend>rclcpp</depend>

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/tracker_base.hpp"
2424
#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
2525
#include "multi_object_tracker/tracker/object_model/object_model.hpp"

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/tracker_base.hpp"
2424
#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
2525
#include "multi_object_tracker/tracker/object_model/object_model.hpp"

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
2424
#include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
2525
#include "multi_object_tracker/tracker/model/tracker_base.hpp"

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/tracker_base.hpp"
2424
#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
2525
#include "multi_object_tracker/tracker/object_model/object_model.hpp"

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "tracker_base.hpp"
2424

2525
class PassThroughTracker : public Tracker

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/bicycle_tracker.hpp"
2424
#include "multi_object_tracker/tracker/model/pedestrian_tracker.hpp"
2525
#include "multi_object_tracker/tracker/model/tracker_base.hpp"

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/tracker_base.hpp"
2424
#include "multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp"
2525
#include "multi_object_tracker/tracker/object_model/object_model.hpp"

perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/model/tracker_base.hpp"
2424
#include "multi_object_tracker/tracker/motion_model/cv_motion_model.hpp"
2525

perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
2424

2525
#include <Eigen/Core>

perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
2424

2525
#include <Eigen/Core>

perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323
#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
2424

2525
#include <Eigen/Core>

perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp

+3-1
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@@ -19,7 +19,7 @@
1919
#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
2020
#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
2121

22-
#include "kalman_filter/kalman_filter.hpp"
22+
#include "autoware_kalman_filter/kalman_filter.hpp"
2323

2424
#include <Eigen/Core>
2525
#include <rclcpp/rclcpp.hpp>
@@ -31,6 +31,8 @@
3131
#endif
3232
#include <geometry_msgs/msg/twist.hpp>
3333

34+
using autoware::kalman_filter::KalmanFilter;
35+
3436
class MotionModel
3537
{
3638
private:

perception/multi_object_tracker/package.xml

+1-1
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@@ -13,12 +13,12 @@
1313
<buildtool_depend>autoware_cmake</buildtool_depend>
1414
<buildtool_depend>eigen3_cmake_module</buildtool_depend>
1515

16+
<depend>autoware_kalman_filter</depend>
1617
<depend>autoware_perception_msgs</depend>
1718
<depend>autoware_universe_utils</depend>
1819
<depend>diagnostic_updater</depend>
1920
<depend>eigen</depend>
2021
<depend>glog</depend>
21-
<depend>kalman_filter</depend>
2222
<depend>mussp</depend>
2323
<depend>object_recognition_utils</depend>
2424
<depend>rclcpp</depend>

perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp

+2-1
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@@ -15,13 +15,14 @@
1515
#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
1616
#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
1717

18+
#include "autoware_kalman_filter/kalman_filter.hpp"
1819
#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
19-
#include "kalman_filter/kalman_filter.hpp"
2020

2121
#include <string>
2222
namespace autoware::radar_object_tracker
2323
{
2424
using Label = autoware_perception_msgs::msg::ObjectClassification;
25+
using autoware::kalman_filter::KalmanFilter;
2526
class ConstantTurnRateMotionTracker : public Tracker // means constant turn rate motion tracker
2627
{
2728
private:

perception/radar_object_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp

+3-1
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@@ -15,15 +15,17 @@
1515
#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
1616
#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
1717

18+
#include "autoware_kalman_filter/kalman_filter.hpp"
1819
#include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
19-
#include "kalman_filter/kalman_filter.hpp"
2020

2121
#include <string>
2222

2323
namespace autoware::radar_object_tracker
2424
{
2525

2626
using Label = autoware_perception_msgs::msg::ObjectClassification;
27+
using autoware::kalman_filter::KalmanFilter;
28+
2729
class LinearMotionTracker : public Tracker
2830
{
2931
private:

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