update content

Author: pojenwang

README.md

@@ -1,16 +1,7 @@
-# Autoware Universe
+# autoware.universe
 
-## Welcome to Autoware Universe
+For Autoware's general documentation, see [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/).
 
-Autoware Universe serves as a foundational pillar within the Autoware ecosystem, playing a critical role in enhancing the core functionalities of autonomous driving technologies.
-This repository is a pivotal element of the Autoware Core/Universe concept, managing a wide array of packages that significantly extend the capabilities of autonomous vehicles.
+For detailed documents of Autoware Universe components, see [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/).
 
-![autoware_universe_front](docs/assets/images/autoware_universe_front.png)
-
-## Getting Started
-
-To dive into the vast world of Autoware and understand how Autoware Universe fits into the bigger picture, we recommend starting with the [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/). This resource provides a thorough overview of the Autoware ecosystem, guiding you through its components, functionalities, and how to get started with development.
-
-### Explore Autoware Universe documentation
-
-For those looking to explore the specifics of Autoware Universe components, the [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/), deployed with MKDocs, offers detailed insights.
+---

common/autoware_ad_api_specs/package.xml

@@ -5,6 +5,8 @@
   <version>0.0.0</version>
   <description>The autoware_ad_api_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <maintainer email="makoto.yabuta@tier4.jp">yabuta</maintainer>
+  <maintainer email="kahhooi.tan@tier4.jp">Kah Hooi Tan</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
 

common/autoware_auto_common/design/comparisons.md

@@ -22,8 +22,8 @@ The `exclusive_or` function will test whether two values cast to different boole
 ## Example Usage
 
 ```c++
-#include "autoware_auto_common/common/bool_comparisons.hpp"
-#include "autoware_auto_common/common/float_comparisons.hpp"
+#include "common/bool_comparisons.hpp"
+#include "common/float_comparisons.hpp"
 
 #include <iostream>
 

common/autoware_auto_common/include/autoware_auto_common/common/types.hpp

@@ -14,15 +14,15 @@
 //
 // Developed by Apex.AI, Inc.
 
-#include "autoware_auto_common/common/types.hpp"
-#include "autoware_auto_common/common/visibility_control.hpp"
+#include <common/types.hpp>
+#include <common/visibility_control.hpp>
 
 #include <cstdint>
 #include <tuple>
 #include <type_traits>
 
-#ifndef AUTOWARE_AUTO_COMMON__COMMON__TYPE_TRAITS_HPP_
-#define AUTOWARE_AUTO_COMMON__COMMON__TYPE_TRAITS_HPP_
+#ifndef COMMON__TYPE_TRAITS_HPP_
+#define COMMON__TYPE_TRAITS_HPP_
 
 namespace autoware
 {
@@ -219,4 +219,4 @@ struct intersect
 }  // namespace common
 }  // namespace autoware
 
-#endif  // AUTOWARE_AUTO_COMMON__COMMON__TYPE_TRAITS_HPP_
+#endif  // COMMON__TYPE_TRAITS_HPP_

common/autoware_auto_common/include/autoware_auto_common/common/visibility_control.hpp

@@ -0,0 +1,125 @@
+// Copyright 2017-2020 the Autoware Foundation, Arm Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+/// \file
+/// \brief This file includes common type definition
+
+#ifndef COMMON__TYPES_HPP_
+#define COMMON__TYPES_HPP_
+
+#include "common/visibility_control.hpp"
+#include "helper_functions/float_comparisons.hpp"
+
+#include <cstdint>
+#include <limits>
+#include <vector>
+
+namespace autoware
+{
+namespace common
+{
+namespace types
+{
+// Aliases to conform to MISRA C++ Rule 3-9-2 (Directive 4.6 in MISRA C).
+// Similarly, the stdint typedefs should be used instead of plain int, long etc. types.
+// We don't currently require code to comply to MISRA, but we should try to where it is
+// easily possible.
+using bool8_t = bool;
+using char8_t = char;
+using uchar8_t = unsigned char;
+// If we ever compile on a platform where this is not true, float32_t and float64_t definitions
+// need to be adjusted.
+static_assert(sizeof(float) == 4, "float is assumed to be 32-bit");
+using float32_t = float;
+static_assert(sizeof(double) == 8, "double is assumed to be 64-bit");
+using float64_t = double;
+
+/// pi = tau / 2
+constexpr float32_t PI = 3.14159265359F;
+/// pi/2
+constexpr float32_t PI_2 = 1.5707963267948966F;
+/// tau = 2 pi
+constexpr float32_t TAU = 6.283185307179586476925286766559F;
+
+struct COMMON_PUBLIC PointXYZIF
+{
+  float32_t x{0};
+  float32_t y{0};
+  float32_t z{0};
+  float32_t intensity{0};
+  uint16_t id{0};
+  static constexpr uint16_t END_OF_SCAN_ID = 65535u;
+  friend bool operator==(const PointXYZIF & p1, const PointXYZIF & p2) noexcept
+  {
+    using autoware::common::helper_functions::comparisons::rel_eq;
+    const auto epsilon = std::numeric_limits<float32_t>::epsilon();
+    return rel_eq(p1.x, p2.x, epsilon) && rel_eq(p1.y, p2.y, epsilon) &&
+           rel_eq(p1.z, p2.z, epsilon) && rel_eq(p1.intensity, p2.intensity, epsilon) &&
+           (p1.id == p2.id);
+  }
+};
+
+struct COMMON_PUBLIC PointXYZF
+{
+  float32_t x{0};
+  float32_t y{0};
+  float32_t z{0};
+  uint16_t id{0};
+  static constexpr uint16_t END_OF_SCAN_ID = 65535u;
+  friend bool operator==(const PointXYZF & p1, const PointXYZF & p2) noexcept
+  {
+    using autoware::common::helper_functions::comparisons::rel_eq;
+    const auto epsilon = std::numeric_limits<float32_t>::epsilon();
+    return rel_eq(p1.x, p2.x, epsilon) && rel_eq(p1.y, p2.y, epsilon) &&
+           rel_eq(p1.z, p2.z, epsilon) && (p1.id == p2.id);
+  }
+};
+
+struct COMMON_PUBLIC PointXYZI
+{
+  float32_t x{0.0F};
+  float32_t y{0.0F};
+  float32_t z{0.0F};
+  float32_t intensity{0.0F};
+  friend bool operator==(const PointXYZI & p1, const PointXYZI & p2) noexcept
+  {
+    return helper_functions::comparisons::rel_eq(
+             p1.x, p2.x, std::numeric_limits<float32_t>::epsilon()) &&
+
+           helper_functions::comparisons::rel_eq(
+             p1.y, p2.y, std::numeric_limits<float32_t>::epsilon()) &&
+
+           helper_functions::comparisons::rel_eq(
+             p1.z, p2.z, std::numeric_limits<float32_t>::epsilon()) &&
+
+           helper_functions::comparisons::rel_eq(
+             p1.intensity, p2.intensity, std::numeric_limits<float32_t>::epsilon());
+  }
+};
+
+using PointBlock = std::vector<PointXYZIF>;
+using PointPtrBlock = std::vector<const PointXYZIF *>;
+/// \brief Stores basic configuration information, does some simple validity checking
+static constexpr uint16_t POINT_BLOCK_CAPACITY = 512U;
+
+// TODO(yunus.caliskan): switch to std::void_t when C++17 is available
+/// \brief `std::void_t<> implementation
+template <typename... Ts>
+using void_t = void;
+}  // namespace types
+}  // namespace common
+}  // namespace autoware
+
+#endif  // COMMON__TYPES_HPP_

common/autoware_auto_common/include/autoware_auto_common/common/type_traits.hpp common/autoware_auto_common/include/common/type_traits.hpp

@@ -0,0 +1,38 @@
+// Copyright 2017-2019 the Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
+
+#ifndef COMMON__VISIBILITY_CONTROL_HPP_
+#define COMMON__VISIBILITY_CONTROL_HPP_
+
+#if defined(_MSC_VER) && defined(_WIN64)
+#if defined(COMMON_BUILDING_DLL) || defined(COMMON_EXPORTS)
+#define COMMON_PUBLIC __declspec(dllexport)
+#define COMMON_LOCAL
+#else  // defined(COMMON_BUILDING_DLL) || defined(COMMON_EXPORTS)
+#define COMMON_PUBLIC __declspec(dllimport)
+#define COMMON_LOCAL
+#endif  // defined(COMMON_BUILDING_DLL) || defined(COMMON_EXPORTS)
+#elif defined(__GNUC__) && defined(__linux__)
+#define COMMON_PUBLIC __attribute__((visibility("default")))
+#define COMMON_LOCAL __attribute__((visibility("hidden")))
+#elif defined(__GNUC__) && defined(__APPLE__)
+#define COMMON_PUBLIC __attribute__((visibility("default")))
+#define COMMON_LOCAL __attribute__((visibility("hidden")))
+#else  // !(defined(__GNUC__) && defined(__APPLE__))
+#error "Unsupported Build Configuration"
+#endif  // _MSC_VER
+
+#endif  // COMMON__VISIBILITY_CONTROL_HPP_