From 1307636be6740a81859b019f81151174dec15027 Mon Sep 17 00:00:00 2001 From: Junya Sasaki Date: Mon, 20 Jan 2025 20:46:54 +0900 Subject: [PATCH 1/9] feat(learning_based_vehicle_model): 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 --- .../learning_based_vehicle_model/CMakeLists.txt | 2 +- .../interconnected_model.hpp | 13 +++++++++---- .../model_connections_helpers.hpp | 8 ++++---- .../learning_based_vehicle_model/simple_pymodel.hpp | 13 +++++++++---- .../submodel_interface.hpp | 13 +++++++++---- simulator/learning_based_vehicle_model/package.xml | 3 ++- .../src/interconnected_model.cpp | 7 ++++++- .../src/model_connections_helpers.cpp | 7 ++++++- .../src/simple_pymodel.cpp | 7 ++++++- .../src/submodel_interface.cpp | 2 +- 10 files changed, 53 insertions(+), 22 deletions(-) diff --git a/simulator/learning_based_vehicle_model/CMakeLists.txt b/simulator/learning_based_vehicle_model/CMakeLists.txt index 58a3ad57e6f9e..02159e7d282bc 100644 --- a/simulator/learning_based_vehicle_model/CMakeLists.txt +++ b/simulator/learning_based_vehicle_model/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14.4) -project(learning_based_vehicle_model) +project(autoware_learning_based_vehicle_model) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp index 56a196c257189..d12b1c0af8baa 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp +++ b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.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 LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ #include "learning_based_vehicle_model/model_connections_helpers.hpp" #include "learning_based_vehicle_model/simple_pymodel.hpp" @@ -29,6 +29,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + namespace py = pybind11; class __attribute__((visibility("default"))) InterconnectedModel @@ -127,4 +130,6 @@ class __attribute__((visibility("default"))) InterconnectedModel std::vector updatePyModel(std::vector psim_input); }; -#endif // LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp index 0d46169600b2f..2fe7411006fb2 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp +++ b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.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 LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ #include #include @@ -25,4 +25,4 @@ std::vector fillVectorUsingMap( std::vector createConnectionsMap( const std::vector & connection_names_1, const std::vector & connection_names_2); -#endif // LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp index fd9cf5cf44de9..9882af2a13099 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp +++ b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.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. @@ -13,8 +13,8 @@ // limitations under the License. // cspell:ignore pymodel -#ifndef LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ #include "learning_based_vehicle_model/model_connections_helpers.hpp" #include "learning_based_vehicle_model/submodel_interface.hpp" @@ -25,6 +25,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + namespace py = pybind11; /** @@ -99,4 +102,6 @@ class SimplePyModel : public SubModelInterface void mapOutputs(std::vector signals_vec_names) override; }; -#endif // LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp index 1cbad103278fb..18f4d71804e2f 100644 --- a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp +++ b/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.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 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ -#define LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ #include +namespace autoware::simulator::learning_based_vehicle_model +{ + class SubModelInterface { public: @@ -59,4 +62,6 @@ class SubModelInterface std::vector model_signals_vec, std::vector model_signals_vec_next) = 0; }; -#endif // LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +} // namespace autoware::simulator::learning_based_vehicle_model + +#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/learning_based_vehicle_model/package.xml index 317be3d0990ca..e7933e63cc810 100644 --- a/simulator/learning_based_vehicle_model/package.xml +++ b/simulator/learning_based_vehicle_model/package.xml @@ -1,11 +1,12 @@ - learning_based_vehicle_model + autoware_learning_based_vehicle_model 0.40.0 learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy + Junya Sasaki Apache License 2.0 ament_cmake_auto diff --git a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp index e495aceb8da9c..0845c22f1015d 100644 --- a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp +++ b/simulator/learning_based_vehicle_model/src/interconnected_model.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. @@ -18,6 +18,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + void InterconnectedModel::mapInputs(std::vector in_names) { // index in "map_in_to_sig_vec" is index in "in_names" and value in "map_in_to_sig_vec" is index @@ -139,3 +142,5 @@ std::vector InterconnectedModel::updatePyModel(std::vector psim_ return psim_next_state; } + +} // namespace autoware::simulator::learning_based_vehicle_model diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp index b300f3837b18a..b200600cf39b8 100644 --- a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp +++ b/simulator/learning_based_vehicle_model/src/model_connections_helpers.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. @@ -16,6 +16,9 @@ #include +namespace autoware::simulator::learning_based_vehicle_model +{ + std::vector fillVectorUsingMap( std::vector vector1, std::vector vector2, const std::vector & map, bool inverse) @@ -48,3 +51,5 @@ std::vector createConnectionsMap( } return connection_map; } + +} // namespace autoware::simulator::learning_based_vehicle_model diff --git a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp index 10581179baf4a..8f036ab527862 100644 --- a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp +++ b/simulator/learning_based_vehicle_model/src/simple_pymodel.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. @@ -20,6 +20,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + namespace py = pybind11; SimplePyModel::SimplePyModel( @@ -110,3 +113,5 @@ void SimplePyModel::mapOutputs(std::vector signals_vec_names) // "map_py_model_outputs_to_sig_vec" is index in "signals_vec_names" map_py_model_outputs_to_sig_vec = createConnectionsMap(signals_vec_names, py_model_state_names); } + +} // namespace autoware::simulator::learning_based_vehicle_model diff --git a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp b/simulator/learning_based_vehicle_model/src/submodel_interface.cpp index 906aff4b01ae0..3ff6ff2e8afb4 100644 --- a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp +++ b/simulator/learning_based_vehicle_model/src/submodel_interface.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. From efdae492659ce50654ecaa7193a3935b4f70ab54 Mon Sep 17 00:00:00 2001 From: Junya Sasaki Date: Mon, 20 Jan 2025 20:48:32 +0900 Subject: [PATCH 2/9] rename(learning_based_vehicle_model): 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 --- .../learning_based_vehicle_model/interconnected_model.hpp | 0 .../learning_based_vehicle_model/model_connections_helpers.hpp | 0 .../learning_based_vehicle_model/simple_pymodel.hpp | 0 .../learning_based_vehicle_model/submodel_interface.hpp | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename simulator/learning_based_vehicle_model/include/{ => autoware}/learning_based_vehicle_model/interconnected_model.hpp (100%) rename simulator/learning_based_vehicle_model/include/{ => autoware}/learning_based_vehicle_model/model_connections_helpers.hpp (100%) rename simulator/learning_based_vehicle_model/include/{ => autoware}/learning_based_vehicle_model/simple_pymodel.hpp (100%) rename simulator/learning_based_vehicle_model/include/{ => autoware}/learning_based_vehicle_model/submodel_interface.hpp (100%) diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/interconnected_model.hpp rename to simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/model_connections_helpers.hpp rename to simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/simple_pymodel.hpp rename to simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp diff --git a/simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/learning_based_vehicle_model/submodel_interface.hpp rename to simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp From 2c139163a84adcaa7ba4b9780ed9633c7cdbf68b Mon Sep 17 00:00:00 2001 From: Junya Sasaki Date: Mon, 20 Jan 2025 20:56:13 +0900 Subject: [PATCH 3/9] fix(learning_based_vehicle_model): fix include header paths * To follow the previous commit Signed-off-by: Junya Sasaki --- .../learning_based_vehicle_model/interconnected_model.hpp | 6 +++--- .../learning_based_vehicle_model/simple_pymodel.hpp | 4 ++-- .../src/interconnected_model.cpp | 2 +- .../src/model_connections_helpers.cpp | 2 +- .../learning_based_vehicle_model/src/simple_pymodel.cpp | 2 +- .../learning_based_vehicle_model/src/submodel_interface.cpp | 2 +- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp index d12b1c0af8baa..1d8893713c926 100644 --- a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp +++ b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp @@ -15,9 +15,9 @@ #ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ #define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ -#include "learning_based_vehicle_model/model_connections_helpers.hpp" -#include "learning_based_vehicle_model/simple_pymodel.hpp" -#include "learning_based_vehicle_model/submodel_interface.hpp" +#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" +#include "autoware/learning_based_vehicle_model/simple_pymodel.hpp" +#include "autoware/learning_based_vehicle_model/submodel_interface.hpp" #include #include diff --git a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp index 9882af2a13099..976732ae4571c 100644 --- a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp +++ b/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp @@ -16,8 +16,8 @@ #ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ #define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ -#include "learning_based_vehicle_model/model_connections_helpers.hpp" -#include "learning_based_vehicle_model/submodel_interface.hpp" +#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" +#include "autoware/learning_based_vehicle_model/submodel_interface.hpp" #include #include diff --git a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp index 0845c22f1015d..1f92e8cd058a5 100644 --- a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp +++ b/simulator/learning_based_vehicle_model/src/interconnected_model.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/interconnected_model.hpp" +#include "autoware/learning_based_vehicle_model/interconnected_model.hpp" #include #include diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp index b200600cf39b8..284607744e218 100644 --- a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp +++ b/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/model_connections_helpers.hpp" +#include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" #include diff --git a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp index 8f036ab527862..50ceb14ff90e6 100644 --- a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp +++ b/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/simple_pymodel.hpp" +#include "autoware/learning_based_vehicle_model/simple_pymodel.hpp" #include #include diff --git a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp b/simulator/learning_based_vehicle_model/src/submodel_interface.cpp index 3ff6ff2e8afb4..cc525b990801b 100644 --- a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp +++ b/simulator/learning_based_vehicle_model/src/submodel_interface.cpp @@ -12,4 +12,4 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "learning_based_vehicle_model/submodel_interface.hpp" +#include "autoware/learning_based_vehicle_model/submodel_interface.hpp" From d51bbe64cad99fc5d2cd11fff6a3f9292132e881 Mon Sep 17 00:00:00 2001 From: Junya Sasaki Date: Mon, 20 Jan 2025 20:57:28 +0900 Subject: [PATCH 4/9] rename: `learning_based_vehicle_model` => `autoware_learning_based_vehicle_model` Signed-off-by: Junya Sasaki --- .../CHANGELOG.rst | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../image/python_model_interface.png | Bin .../interconnected_model.hpp | 0 .../model_connections_helpers.hpp | 0 .../learning_based_vehicle_model/simple_pymodel.hpp | 0 .../submodel_interface.hpp | 0 .../package.xml | 0 .../src/interconnected_model.cpp | 0 .../src/model_connections_helpers.cpp | 0 .../src/simple_pymodel.cpp | 0 .../src/submodel_interface.cpp | 0 13 files changed, 0 insertions(+), 0 deletions(-) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/CHANGELOG.rst (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/CMakeLists.txt (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/README.md (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/image/python_model_interface.png (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/include/autoware/learning_based_vehicle_model/interconnected_model.hpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/include/autoware/learning_based_vehicle_model/submodel_interface.hpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/package.xml (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/src/interconnected_model.cpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/src/model_connections_helpers.cpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/src/simple_pymodel.cpp (100%) rename simulator/{learning_based_vehicle_model => autoware_learning_based_vehicle_model}/src/submodel_interface.cpp (100%) diff --git a/simulator/learning_based_vehicle_model/CHANGELOG.rst b/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst similarity index 100% rename from simulator/learning_based_vehicle_model/CHANGELOG.rst rename to simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst diff --git a/simulator/learning_based_vehicle_model/CMakeLists.txt b/simulator/autoware_learning_based_vehicle_model/CMakeLists.txt similarity index 100% rename from simulator/learning_based_vehicle_model/CMakeLists.txt rename to simulator/autoware_learning_based_vehicle_model/CMakeLists.txt diff --git a/simulator/learning_based_vehicle_model/README.md b/simulator/autoware_learning_based_vehicle_model/README.md similarity index 100% rename from simulator/learning_based_vehicle_model/README.md rename to simulator/autoware_learning_based_vehicle_model/README.md diff --git a/simulator/learning_based_vehicle_model/image/python_model_interface.png b/simulator/autoware_learning_based_vehicle_model/image/python_model_interface.png similarity index 100% rename from simulator/learning_based_vehicle_model/image/python_model_interface.png rename to simulator/autoware_learning_based_vehicle_model/image/python_model_interface.png diff --git a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp diff --git a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp diff --git a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp diff --git a/simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp similarity index 100% rename from simulator/learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp rename to simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp diff --git a/simulator/learning_based_vehicle_model/package.xml b/simulator/autoware_learning_based_vehicle_model/package.xml similarity index 100% rename from simulator/learning_based_vehicle_model/package.xml rename to simulator/autoware_learning_based_vehicle_model/package.xml diff --git a/simulator/learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp similarity index 100% rename from simulator/learning_based_vehicle_model/src/interconnected_model.cpp rename to simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp diff --git a/simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp similarity index 100% rename from simulator/learning_based_vehicle_model/src/model_connections_helpers.cpp rename to simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp diff --git a/simulator/learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp similarity index 100% rename from simulator/learning_based_vehicle_model/src/simple_pymodel.cpp rename to simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp diff --git a/simulator/learning_based_vehicle_model/src/submodel_interface.cpp b/simulator/autoware_learning_based_vehicle_model/src/submodel_interface.cpp similarity index 100% rename from simulator/learning_based_vehicle_model/src/submodel_interface.cpp rename to simulator/autoware_learning_based_vehicle_model/src/submodel_interface.cpp From 1f6113f25529e17ca94969b0ba548fedf06b8fd0 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 20 Jan 2025 12:21:35 +0000 Subject: [PATCH 5/9] style(pre-commit): autofix --- .../learning_based_vehicle_model/interconnected_model.hpp | 6 +++--- .../model_connections_helpers.hpp | 6 +++--- .../learning_based_vehicle_model/simple_pymodel.hpp | 6 +++--- .../learning_based_vehicle_model/submodel_interface.hpp | 6 +++--- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp index 1d8893713c926..b08a8957dff7d 100644 --- a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/interconnected_model.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ -#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ #include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" #include "autoware/learning_based_vehicle_model/simple_pymodel.hpp" @@ -132,4 +132,4 @@ class __attribute__((visibility("default"))) InterconnectedModel } // namespace autoware::simulator::learning_based_vehicle_model -#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_ diff --git a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp index 2fe7411006fb2..1cbc51f11181a 100644 --- a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ -#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ #include #include @@ -25,4 +25,4 @@ std::vector fillVectorUsingMap( std::vector createConnectionsMap( const std::vector & connection_names_1, const std::vector & connection_names_2); -#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ diff --git a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp index 976732ae4571c..270a30b5e23dd 100644 --- a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/simple_pymodel.hpp @@ -13,8 +13,8 @@ // limitations under the License. // cspell:ignore pymodel -#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ -#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ #include "autoware/learning_based_vehicle_model/model_connections_helpers.hpp" #include "autoware/learning_based_vehicle_model/submodel_interface.hpp" @@ -104,4 +104,4 @@ class SimplePyModel : public SubModelInterface } // namespace autoware::simulator::learning_based_vehicle_model -#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_ diff --git a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp index 18f4d71804e2f..f97158aadcd2b 100644 --- a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/submodel_interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ -#define AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#ifndef AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ #include @@ -64,4 +64,4 @@ class SubModelInterface } // namespace autoware::simulator::learning_based_vehicle_model -#endif // AUTOWARE__SIMULATOR__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ +#endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_ From eed0af2cab3bba010c38ad00b4711c690475c129 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 23 Jan 2025 16:13:46 +0900 Subject: [PATCH 6/9] Fixed to use autoware_learning_based_vehicle_model Signed-off-by: Shintaro Sakoda --- simulator/simple_planning_simulator/CMakeLists.txt | 4 ++-- simulator/simple_planning_simulator/README.md | 2 +- .../vehicle_model/sim_model_learned_steer_vel.hpp | 4 ++-- simulator/simple_planning_simulator/package.xml | 2 +- .../vehicle_model/sim_model_learned_steer_vel.cpp | 2 +- 5 files changed, 7 insertions(+), 7 deletions(-) diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index 6acb74342c90f..607aeaeadad3e 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -3,7 +3,7 @@ project(simple_planning_simulator) find_package(autoware_cmake REQUIRED) find_package(Python3 COMPONENTS Interpreter Development) -find_package(learning_based_vehicle_model REQUIRED) +find_package(autoware_learning_based_vehicle_model REQUIRED) autoware_package() # Component @@ -25,7 +25,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/simple_planning_simulator/utils/csv_loader.cpp src/simple_planning_simulator/utils/mechanical_controller.cpp ) -target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS}) +target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${autoware_learning_based_vehicle_model_INCLUDE_DIRS}) # Node executable rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "simulation::simple_planning_simulator::SimplePlanningSimulator" diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index cd362c0115358..244dbd75aa857 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -64,7 +64,7 @@ The purpose of this simulator is for the integration test of planning and contro - `DELAY_STEER_ACC_GEARED` - `DELAY_STEER_ACC_GEARED_WO_FALL_GUARD` - `DELAY_STEER_MAP_ACC_GEARED`: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle. -- `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../learning_based_vehicle_model). +- `LEARNED_STEER_VEL`: launches learned python models. More about this [here](../autoware_learning_based_vehicle_model). The following models receive `ACTUATION_CMD` generated from `raw_vehicle_cmd_converter`. Therefore, when these models are selected, the `raw_vehicle_cmd_converter` is also launched. diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp index c6301db42620e..2a541946bcd36 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp @@ -15,7 +15,7 @@ #ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ #define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_ -#include "learning_based_vehicle_model/interconnected_model.hpp" +#include "autoware/learning_based_vehicle_model/interconnected_model.hpp" #include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp" #include @@ -74,7 +74,7 @@ class SimModelLearnedSteerVel : public SimModelInterface /*delay steer velocity* STEER_DES, }; - InterconnectedModel vehicle; + autoware::simulator::learning_based_vehicle_model::InterconnectedModel vehicle; double prev_vx_ = 0.0; double current_ax_ = 0.0; diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 5bd7a2f74eacc..8e5cc79e18f0e 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -26,7 +26,7 @@ autoware_vehicle_msgs geometry_msgs lanelet2_core - learning_based_vehicle_model + autoware_learning_based_vehicle_model nav_msgs rclcpp rclcpp_components diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp index 4ddcc0e498b70..8e2822ec465ee 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp @@ -14,7 +14,7 @@ #include "simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp" -#include "learning_based_vehicle_model/interconnected_model.hpp" +#include "autoware/learning_based_vehicle_model/interconnected_model.hpp" #include #include From 136a50a21cb6f209f62c204f150aa7133c2b8722 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 23 Jan 2025 07:16:33 +0000 Subject: [PATCH 7/9] style(pre-commit): autofix --- simulator/simple_planning_simulator/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 8e5cc79e18f0e..4a03479948186 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -18,6 +18,7 @@ autoware_control_msgs autoware_lanelet2_extension + autoware_learning_based_vehicle_model autoware_map_msgs autoware_motion_utils autoware_planning_msgs @@ -26,7 +27,6 @@ autoware_vehicle_msgs geometry_msgs lanelet2_core - autoware_learning_based_vehicle_model nav_msgs rclcpp rclcpp_components From 7117a6ee026b794dcb3d5f259d02fd735860f00b Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 23 Jan 2025 19:05:11 +0900 Subject: [PATCH 8/9] Added namespace Signed-off-by: Shintaro Sakoda --- .../model_connections_helpers.hpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp index 1cbc51f11181a..94d206fece130 100644 --- a/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp +++ b/simulator/autoware_learning_based_vehicle_model/include/autoware/learning_based_vehicle_model/model_connections_helpers.hpp @@ -18,6 +18,9 @@ #include #include +namespace autoware::simulator::learning_based_vehicle_model +{ + std::vector fillVectorUsingMap( std::vector vector1, std::vector vector2, const std::vector & map, bool inverse); @@ -25,4 +28,6 @@ std::vector fillVectorUsingMap( std::vector createConnectionsMap( const std::vector & connection_names_1, const std::vector & connection_names_2); +} // namespace autoware::simulator::learning_based_vehicle_model + #endif // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_ From 76e21006295880d81d8c1601f74524025f582549 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Fri, 24 Jan 2025 13:21:02 +0900 Subject: [PATCH 9/9] docs(autoware_learning_based_vehicle_model): update package name in docs Signed-off-by: Ryohsuke Mitsudome --- .../autoware_learning_based_vehicle_model/CHANGELOG.rst | 6 +++--- simulator/autoware_learning_based_vehicle_model/package.xml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst b/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst index ed271370a6840..d58a509138a83 100644 --- a/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst +++ b/simulator/autoware_learning_based_vehicle_model/CHANGELOG.rst @@ -1,6 +1,6 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package learning_based_vehicle_model -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_learning_based_vehicle_model +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 0.40.0 (2024-12-12) ------------------- diff --git a/simulator/autoware_learning_based_vehicle_model/package.xml b/simulator/autoware_learning_based_vehicle_model/package.xml index e7933e63cc810..b6b381801636d 100644 --- a/simulator/autoware_learning_based_vehicle_model/package.xml +++ b/simulator/autoware_learning_based_vehicle_model/package.xml @@ -3,7 +3,7 @@ autoware_learning_based_vehicle_model 0.40.0 - learning_based_vehicle_model for simple_planning_simulator + autoware_learning_based_vehicle_model for simple_planning_simulator Maxime Clement Tomas Nagy Junya Sasaki