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refactor(probabilistic_occupancy_grid_map)!: fix namespace and directory structure #7872

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merged 6 commits into from
Jul 8, 2024
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refactor(probabilistic_occupancy_grid_map)!: fix namespace and directory structure #7872

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022921d
refactor: update include paths for probabilistic occupancy grid map
technolojin Jul 5, 2024
13af3a9
refactor: update include paths for probabilistic occupancy grid map
technolojin Jul 5, 2024
229392d
refactor: update namespace for nodes
technolojin Jul 5, 2024
053bb4b
refactor: update namespace for lib
technolojin Jul 5, 2024
cd0f68c
refactor: remove unused dependency
technolojin Jul 5, 2024
5bc0b89
refactor: use const pointer for occupancy grid map data
technolojin Jul 8, 2024
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35 changes: 18 additions & 17 deletions perception/probabilistic_occupancy_grid_map/CMakeLists.txt
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Expand Up @@ -14,8 +14,8 @@ include_directories(
)

ament_auto_add_library(${PROJECT_NAME}_common SHARED
src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
src/utils/utils.cpp
lib/updater/binary_bayes_filter_updater.cpp
lib/utils/utils.cpp
)
target_link_libraries(${PROJECT_NAME}_common
${PCL_LIBRARIES}
Expand All @@ -24,9 +24,9 @@ target_link_libraries(${PROJECT_NAME}_common
# PointcloudBasedOccupancyGridMap
ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
lib/costmap_2d/occupancy_grid_map_base.cpp
lib/costmap_2d/occupancy_grid_map_fixed.cpp
lib/costmap_2d/occupancy_grid_map_projective.cpp
)

target_link_libraries(pointcloud_based_occupancy_grid_map
Expand All @@ -35,14 +35,14 @@ target_link_libraries(pointcloud_based_occupancy_grid_map
)

rclcpp_components_register_node(pointcloud_based_occupancy_grid_map
PLUGIN "occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
PLUGIN "autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
EXECUTABLE pointcloud_based_occupancy_grid_map_node
)

# LaserscanBasedOccupancyGridMap
ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED
src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
lib/costmap_2d/occupancy_grid_map.cpp
)

target_link_libraries(laserscan_based_occupancy_grid_map
Expand All @@ -51,25 +51,25 @@ target_link_libraries(laserscan_based_occupancy_grid_map
)

rclcpp_components_register_node(laserscan_based_occupancy_grid_map
PLUGIN "occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
PLUGIN "autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
EXECUTABLE laserscan_based_occupancy_grid_map_node
)

# GridMapFusionNode
ament_auto_add_library(synchronized_grid_map_fusion SHARED
src/fusion/synchronized_grid_map_fusion_node.cpp
src/fusion/single_frame_fusion_policy.cpp
src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
src/utils/utils.cpp
lib/fusion_policy/fusion_policy.cpp
lib/costmap_2d/occupancy_grid_map_fixed.cpp
lib/updater/log_odds_bayes_filter_updater.cpp
lib/utils/utils.cpp
)

target_link_libraries(synchronized_grid_map_fusion
${PCL_LIBRARIES}
)

rclcpp_components_register_node(synchronized_grid_map_fusion
PLUGIN "synchronized_grid_map_fusion::GridMapFusionNode"
PLUGIN "autoware::occupancy_grid_map::GridMapFusionNode"
EXECUTABLE synchronized_grid_map_fusion_node
)

Expand All @@ -88,13 +88,14 @@ if(BUILD_TESTING)

# gtest
ament_add_gtest(test_utils
test/test_utils.cpp
test/test_utils.cpp
)
ament_add_gtest(costmap_unit_tests
test/cost_value_test.cpp)
test/cost_value_test.cpp
)
ament_add_gtest(fusion_policy_unit_tests
test/fusion_policy_test.cpp
src/fusion/single_frame_fusion_policy.cpp
test/fusion_policy_test.cpp
lib/fusion_policy/fusion_policy.cpp
)
target_link_libraries(test_utils
${PCL_LIBRARIES}
Expand Down
14 changes: 9 additions & 5 deletions ...ilistic_occupancy_grid_map/cost_value.hpp → ...upancy_grid_map/cost_value/cost_value.hpp
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Expand Up @@ -48,12 +48,14 @@
* Author: Eitan Marder-Eppstein
*********************************************************************/

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_

#include <algorithm>

namespace occupancy_cost_value
namespace autoware::occupancy_grid_map
{
namespace cost_value
{
static const unsigned char NO_INFORMATION = 128; // 0.5 * 255
static const unsigned char LETHAL_OBSTACLE = 255;
Expand Down Expand Up @@ -101,6 +103,8 @@ struct InverseCostTranslationTable

static const CostTranslationTable cost_translation_table;
static const InverseCostTranslationTable inverse_cost_translation_table;
} // namespace occupancy_cost_value

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
} // namespace cost_value
} // namespace autoware::occupancy_grid_map

#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
9 changes: 6 additions & 3 deletions ...occupancy_grid_map/occupancy_grid_map.hpp → ...rid_map/costmap_2d/occupancy_grid_map.hpp
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Expand Up @@ -49,8 +49,8 @@
* David V. Lu!!
*********************************************************************/

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_

#include <nav2_costmap_2d/costmap_2d.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -59,6 +59,8 @@
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
using geometry_msgs::msg::Pose;
Expand Down Expand Up @@ -90,5 +92,6 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
9 changes: 6 additions & 3 deletions ...ancy_grid_map/occupancy_grid_map_base.hpp → ...ap/costmap_2d/occupancy_grid_map_base.hpp
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Expand Up @@ -49,8 +49,8 @@
* David V. Lu!!
*********************************************************************/

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_

#include <nav2_costmap_2d/costmap_2d.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -59,6 +59,8 @@
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
using geometry_msgs::msg::Pose;
Expand Down Expand Up @@ -91,5 +93,6 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
11 changes: 7 additions & 4 deletions ...ncy_grid_map/occupancy_grid_map_fixed.hpp → ...p/costmap_2d/occupancy_grid_map_fixed.hpp
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Expand Up @@ -12,11 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_

#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
using geometry_msgs::msg::Pose;
Expand All @@ -43,5 +45,6 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
11 changes: 7 additions & 4 deletions ...rid_map/occupancy_grid_map_projective.hpp → ...tmap_2d/occupancy_grid_map_projective.hpp
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Expand Up @@ -12,15 +12,17 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_

#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"

#include <grid_map_core/GridMap.hpp>

#include <grid_map_msgs/msg/grid_map.hpp>

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
using geometry_msgs::msg::Pose;
Expand Down Expand Up @@ -51,5 +53,6 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
12 changes: 8 additions & 4 deletions ...map/fusion/single_frame_fusion_policy.hpp → ..._grid_map/fusion_policy/fusion_policy.hpp
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Expand Up @@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_

#include "probabilistic_occupancy_grid_map/cost_value.hpp"
#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"

#include <cmath>
#include <iostream>
Expand All @@ -25,6 +25,8 @@
/*min and max prob threshold to prevent log-odds to diverge*/
#define EPSILON_PROB 0.03

namespace autoware::occupancy_grid_map
{
namespace fusion_policy
{
enum class FusionMethod { OVERWRITE, LOG_ODDS, DEMPSTER_SHAFER };
Expand Down Expand Up @@ -61,6 +63,8 @@ unsigned char singleFrameOccupancyFusion(
unsigned char singleFrameOccupancyFusion(
const std::vector<unsigned char> & occupancy, FusionMethod method,
const std::vector<double> & reliability);

} // namespace fusion_policy
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
11 changes: 7 additions & 4 deletions ..._grid_map_binary_bayes_filter_updater.hpp → ...p/updater/binary_bayes_filter_updater.hpp
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Expand Up @@ -12,14 +12,16 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_

#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"

#include <Eigen/Core>
#include <Eigen/Geometry>

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
Expand All @@ -38,5 +40,6 @@ class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
15 changes: 9 additions & 6 deletions ...rid_map_log_odds_bayes_filter_updater.hpp → ...updater/log_odds_bayes_filter_updater.hpp
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Expand Up @@ -12,19 +12,21 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_

#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp"
#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"

#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Geometry>

// LOBF means: Log Odds Bayes Filter
// cspell: ignore LOBF

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
Expand All @@ -45,5 +47,6 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
14 changes: 8 additions & 6 deletions .../occupancy_grid_map_updater_interface.hpp → ...rid_map/updater/ogm_updater_interface.hpp
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Expand Up @@ -12,23 +12,24 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_

#include "probabilistic_occupancy_grid_map/cost_value.hpp"
#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"

#include <nav2_costmap_2d/costmap_2d.hpp>
#include <rclcpp/node.hpp>

namespace autoware::occupancy_grid_map
{
namespace costmap_2d
{
class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
{
public:
OccupancyGridMapUpdaterInterface(
const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution)
: Costmap2D(
cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION)
: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION)
{
}
virtual ~OccupancyGridMapUpdaterInterface() = default;
Expand All @@ -37,5 +38,6 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
};

} // namespace costmap_2d
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
12 changes: 8 additions & 4 deletions ...listic_occupancy_grid_map/utils/utils.hpp → ...listic_occupancy_grid_map/utils/utils.hpp
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Expand Up @@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_

#include "probabilistic_occupancy_grid_map/cost_value.hpp"
#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"

#include <builtin_interfaces/msg/time.hpp>
#include <pcl_ros/transforms.hpp>
Expand Down Expand Up @@ -45,6 +45,8 @@
#include <cmath>
#include <vector>

namespace autoware::occupancy_grid_map
{
namespace utils
{

Expand Down Expand Up @@ -117,6 +119,8 @@ bool extractCommonPointCloud(
sensor_msgs::msg::PointCloud2 & output_obstacle_pc);

unsigned char getApproximateOccupancyState(const unsigned char & value);

} // namespace utils
} // namespace autoware::occupancy_grid_map

#endif // PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
#endif // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
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