Skip to content

Commit dcde650

Browse files
pre-commit-ci[bot]pre-commit-ci[bot]
committed
style(pre-commit): autofix
1 parent 937ec2c commit dcde650

File tree

14 files changed

+28
-24
lines changed

14 files changed

+28
-24
lines changed

‎common/autoware_geography_utils/include/autoware_geography_utils/height.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef GEOGRAPHY_UTILS__HEIGHT_HPP_
16-
#define GEOGRAPHY_UTILS__HEIGHT_HPP_
15+
#ifndef AUTOWARE_GEOGRAPHY_UTILS__HEIGHT_HPP_
16+
#define AUTOWARE_GEOGRAPHY_UTILS__HEIGHT_HPP_
1717

1818
#include <string>
1919

@@ -30,4 +30,4 @@ double convert_height(
3030

3131
} // namespace autoware::geography_utils
3232

33-
#endif // GEOGRAPHY_UTILS__HEIGHT_HPP_
33+
#endif // AUTOWARE_GEOGRAPHY_UTILS__HEIGHT_HPP_

‎common/autoware_geography_utils/include/autoware_geography_utils/lanelet2_projector.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
16-
#define GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
15+
#ifndef AUTOWARE_GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
16+
#define AUTOWARE_GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
1717

1818
#include <tier4_map_msgs/msg/map_projector_info.hpp>
1919

@@ -29,4 +29,4 @@ std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInf
2929

3030
} // namespace autoware::geography_utils
3131

32-
#endif // GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_
32+
#endif // AUTOWARE_GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_

‎common/autoware_geography_utils/include/autoware_geography_utils/projection.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef GEOGRAPHY_UTILS__PROJECTION_HPP_
16-
#define GEOGRAPHY_UTILS__PROJECTION_HPP_
15+
#ifndef AUTOWARE_GEOGRAPHY_UTILS__PROJECTION_HPP_
16+
#define AUTOWARE_GEOGRAPHY_UTILS__PROJECTION_HPP_
1717

1818
#include <geographic_msgs/msg/geo_point.hpp>
1919
#include <geometry_msgs/msg/point.hpp>
@@ -30,4 +30,4 @@ GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo
3030

3131
} // namespace autoware::geography_utils
3232

33-
#endif // GEOGRAPHY_UTILS__PROJECTION_HPP_
33+
#endif // AUTOWARE_GEOGRAPHY_UTILS__PROJECTION_HPP_

‎common/autoware_geography_utils/src/lanelet2_projector.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -13,9 +13,9 @@
1313
// limitations under the License.
1414

1515
#include <GeographicLib/Geoid.hpp>
16+
#include <autoware_geography_utils/lanelet2_projector.hpp>
1617
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
1718
#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
18-
#include <autoware_geography_utils/lanelet2_projector.hpp>
1919

2020
#include <lanelet2_projection/UTM.h>
2121

‎common/autoware_geography_utils/src/projection.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -13,9 +13,9 @@
1313
// limitations under the License.
1414

1515
#include <GeographicLib/Geoid.hpp>
16-
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
1716
#include <autoware_geography_utils/lanelet2_projector.hpp>
1817
#include <autoware_geography_utils/projection.hpp>
18+
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
1919

2020
namespace autoware::geography_utils
2121
{

‎localization/geo_pose_projector/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -18,10 +18,10 @@
1818
<buildtool_depend>ament_cmake_auto</buildtool_depend>
1919
<buildtool_depend>autoware_cmake</buildtool_depend>
2020

21+
<depend>autoware_geography_utils</depend>
2122
<depend>component_interface_specs</depend>
2223
<depend>component_interface_utils</depend>
2324
<depend>geographic_msgs</depend>
24-
<depend>autoware_geography_utils</depend>
2525
<depend>geometry_msgs</depend>
2626
<depend>rclcpp</depend>
2727
<depend>rclcpp_components</depend>

‎map/map_loader/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -20,12 +20,12 @@
2020
<buildtool_depend>ament_cmake_auto</buildtool_depend>
2121
<buildtool_depend>autoware_cmake</buildtool_depend>
2222

23+
<depend>autoware_geography_utils</depend>
2324
<depend>autoware_lanelet2_extension</depend>
2425
<depend>autoware_map_msgs</depend>
2526
<depend>component_interface_specs</depend>
2627
<depend>component_interface_utils</depend>
2728
<depend>fmt</depend>
28-
<depend>autoware_geography_utils</depend>
2929
<depend>geometry_msgs</depend>
3030
<depend>libpcl-all-dev</depend>
3131
<depend>pcl_conversions</depend>

‎map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -36,12 +36,12 @@
3636
#include "lanelet2_local_projector.hpp"
3737

3838
#include <ament_index_cpp/get_package_prefix.hpp>
39+
#include <autoware_geography_utils/lanelet2_projector.hpp>
3940
#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
4041
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
4142
#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
4243
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
4344
#include <autoware_lanelet2_extension/utility/utilities.hpp>
44-
#include <autoware_geography_utils/lanelet2_projector.hpp>
4545
#include <rclcpp/rclcpp.hpp>
4646

4747
#include <lanelet2_core/LaneletMap.h>

‎planning/autoware_static_centerline_generator/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,7 @@
1616
<build_depend>rosidl_default_generators</build_depend>
1717

1818
<depend>autoware_behavior_path_planner_common</depend>
19+
<depend>autoware_geography_utils</depend>
1920
<depend>autoware_lanelet2_extension</depend>
2021
<depend>autoware_map_msgs</depend>
2122
<depend>autoware_mission_planner</depend>
@@ -27,7 +28,6 @@
2728
<depend>autoware_route_handler</depend>
2829
<depend>autoware_universe_utils</depend>
2930
<depend>autoware_vehicle_info_utils</depend>
30-
<depend>autoware_geography_utils</depend>
3131
<depend>geometry_msgs</depend>
3232
<depend>global_parameter_loader</depend>
3333
<depend>interpolation</depend>

‎planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -871,7 +871,8 @@ void StaticCenterlineGeneratorNode::save_map()
871871

872872
// save map with modified center line
873873
std::filesystem::create_directory("/tmp/autoware_static_centerline_generator");
874-
const auto map_projector = autoware::geography_utils::get_lanelet2_projector(*map_projector_info_);
874+
const auto map_projector =
875+
autoware::geography_utils::get_lanelet2_projector(*map_projector_info_);
875876
lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector);
876877
RCLCPP_INFO(
877878
get_logger(), "Saved map in %s", "/tmp/autoware_static_centerline_generator/lanelet2_map.osm");

‎sensing/gnss_poser/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -20,12 +20,12 @@
2020

2121
<build_depend>libboost-dev</build_depend>
2222

23+
<depend>autoware_geography_utils</depend>
2324
<depend>autoware_sensing_msgs</depend>
2425
<depend>component_interface_specs</depend>
2526
<depend>component_interface_utils</depend>
2627
<depend>geographic_msgs</depend>
2728
<depend>geographiclib</depend>
28-
<depend>autoware_geography_utils</depend>
2929
<depend>geometry_msgs</depend>
3030
<depend>rclcpp</depend>
3131
<depend>rclcpp_components</depend>

‎sensing/gnss_poser/src/gnss_poser_core.cpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -114,7 +114,8 @@ void GNSSPoser::callbackNavSatFix(
114114
gps_point.latitude = nav_sat_fix_msg_ptr->latitude;
115115
gps_point.longitude = nav_sat_fix_msg_ptr->longitude;
116116
gps_point.altitude = nav_sat_fix_msg_ptr->altitude;
117-
geometry_msgs::msg::Point position = autoware::geography_utils::project_forward(gps_point, projector_info_);
117+
geometry_msgs::msg::Point position =
118+
autoware::geography_utils::project_forward(gps_point, projector_info_);
118119
position.z = autoware::geography_utils::convert_height(
119120
position.z, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84,
120121
projector_info_.vertical_datum);

‎system/default_ad_api/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@
1515
<depend>autoware_ad_api_specs</depend>
1616
<depend>autoware_adapi_v1_msgs</depend>
1717
<depend>autoware_adapi_version_msgs</depend>
18+
<depend>autoware_geography_utils</depend>
1819
<depend>autoware_motion_utils</depend>
1920
<depend>autoware_planning_msgs</depend>
2021
<depend>autoware_system_msgs</depend>
@@ -24,7 +25,6 @@
2425
<depend>component_interface_utils</depend>
2526
<depend>diagnostic_graph_utils</depend>
2627
<depend>geographic_msgs</depend>
27-
<depend>autoware_geography_utils</depend>
2828
<depend>nav_msgs</depend>
2929
<depend>rclcpp</depend>
3030
<depend>rclcpp_components</depend>

‎system/default_ad_api/src/vehicle.cpp

+7-5
Original file line numberDiff line numberDiff line change
@@ -143,15 +143,17 @@ void VehicleNode::publish_kinematics()
143143
vehicle_kinematics.twist.header.frame_id = kinematic_state_msgs_->child_frame_id;
144144
vehicle_kinematics.twist.twist = kinematic_state_msgs_->twist;
145145
if (map_projector_info_->projector_type != MapProjectorInfo::LOCAL) {
146-
const geographic_msgs::msg::GeoPoint projected_gps_point = autoware::geography_utils::project_reverse(
147-
kinematic_state_msgs_->pose.pose.position, *map_projector_info_);
146+
const geographic_msgs::msg::GeoPoint projected_gps_point =
147+
autoware::geography_utils::project_reverse(
148+
kinematic_state_msgs_->pose.pose.position, *map_projector_info_);
148149
vehicle_kinematics.geographic_pose.header = kinematic_state_msgs_->header;
149150
vehicle_kinematics.geographic_pose.header.frame_id = "global";
150151
vehicle_kinematics.geographic_pose.position.latitude = projected_gps_point.latitude;
151152
vehicle_kinematics.geographic_pose.position.longitude = projected_gps_point.longitude;
152-
vehicle_kinematics.geographic_pose.position.altitude = autoware::geography_utils::convert_height(
153-
projected_gps_point.altitude, projected_gps_point.latitude, projected_gps_point.longitude,
154-
map_projector_info_->vertical_datum, MapProjectorInfo::WGS84);
153+
vehicle_kinematics.geographic_pose.position.altitude =
154+
autoware::geography_utils::convert_height(
155+
projected_gps_point.altitude, projected_gps_point.latitude, projected_gps_point.longitude,
156+
map_projector_info_->vertical_datum, MapProjectorInfo::WGS84);
155157
} else {
156158
vehicle_kinematics.geographic_pose.position.latitude = std::numeric_limits<double>::quiet_NaN();
157159
vehicle_kinematics.geographic_pose.position.longitude =

0 commit comments

Comments
 (0)