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refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (autowarefoundation#7809)
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent 6c15a6e commit 3033082

27 files changed

+55
-54
lines changed

‎.github/CODEOWNERS

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@@ -113,6 +113,7 @@ perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.
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perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
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perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
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perception/autoware_radar_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
116+
perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp
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perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
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perception/compare_map_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
@@ -137,7 +138,6 @@ perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
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perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
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perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
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perception/tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
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perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
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perception/traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp
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perception/traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp

‎launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml

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@@ -55,7 +55,7 @@
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</include>
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<!-- tracking object merger to merge near objects and far objects -->
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<include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
58+
<include file="$(find-pkg-share autoware_tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
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<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
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<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
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<arg name="output" value="$(var tracker_merger/output/objects)"/>

‎launch/tier4_perception_launch/package.xml

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@@ -25,6 +25,8 @@
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<exec_depend>autoware_radar_object_clustering</exec_depend>
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<exec_depend>autoware_radar_object_tracker</exec_depend>
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<exec_depend>autoware_raindrop_cluster_filter</exec_depend>
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<exec_depend>autoware_tracking_object_merger</exec_depend>
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<exec_depend>cluster_merger</exec_depend>
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<exec_depend>compare_map_segmentation</exec_depend>
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<exec_depend>detected_object_feature_remover</exec_depend>
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<exec_depend>detected_object_validation</exec_depend>
@@ -41,7 +43,6 @@
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<exec_depend>probabilistic_occupancy_grid_map</exec_depend>
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<exec_depend>shape_estimation</exec_depend>
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<exec_depend>topic_tools</exec_depend>
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<exec_depend>tracking_object_merger</exec_depend>
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<exec_depend>traffic_light_arbiter</exec_depend>
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<exec_depend>traffic_light_classifier</exec_depend>
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<exec_depend>traffic_light_fine_detector</exec_depend>

‎perception/tracking_object_merger/CMakeLists.txt ‎perception/autoware_tracking_object_merger/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(tracking_object_merger VERSION 1.0.0)
2+
project(autoware_tracking_object_merger VERSION 1.0.0)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wconversion)

‎perception/tracking_object_merger/README.md ‎perception/autoware_tracking_object_merger/README.md

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‎perception/tracking_object_merger/config/data_association_matrix.param.yaml ‎perception/autoware_tracking_object_merger/config/data_association_matrix.param.yaml

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‎perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml ‎perception/autoware_tracking_object_merger/config/decorative_tracker_merger.param.yaml

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‎perception/tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml ‎perception/autoware_tracking_object_merger/config/decorative_tracker_merger_policy.param.yaml

File renamed without changes.

‎perception/tracking_object_merger/image/decorative_tracker_merger.drawio.svg ‎perception/autoware_tracking_object_merger/image/decorative_tracker_merger.drawio.svg

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‎perception/tracking_object_merger/image/time_sync.drawio.svg ‎perception/autoware_tracking_object_merger/image/time_sync.drawio.svg

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‎perception/tracking_object_merger/image/tracklet_management.drawio.svg ‎perception/autoware_tracking_object_merger/image/tracklet_management.drawio.svg

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‎perception/tracking_object_merger/include/autoware_tracking_object_merger/association/data_association.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/data_association.hpp

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@@ -16,13 +16,13 @@
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// Author: v1.0 Yukihiro Saito
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//
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19-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
20-
#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
19+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
20+
#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
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#define EIGEN_MPL2_ONLY
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#include "autoware_tracking_object_merger/association/solver/gnn_solver.hpp"
25-
#include "autoware_tracking_object_merger/utils/tracker_state.hpp"
24+
#include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp"
25+
#include "autoware/tracking_object_merger/utils/tracker_state.hpp"
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#include <Eigen/Core>
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#include <Eigen/Geometry>
@@ -72,4 +72,4 @@ class DataAssociation
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} // namespace autoware::tracking_object_merger
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75-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
75+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_

‎perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver.hpp

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@@ -12,11 +12,11 @@
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// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
16-
#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
15+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
16+
#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
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18-
#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp"
19-
#include "autoware_tracking_object_merger/association/solver/mu_ssp.hpp"
20-
#include "autoware_tracking_object_merger/association/solver/ssp.hpp"
18+
#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp"
19+
#include "autoware/tracking_object_merger/association/solver/mu_ssp.hpp"
20+
#include "autoware/tracking_object_merger/association/solver/ssp.hpp"
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22-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
22+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_

‎perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp

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

15-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
16-
#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
15+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
16+
#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
1717

1818
#include <unordered_map>
1919
#include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
3232
};
3333
} // namespace autoware::tracking_object_merger::gnn_solver
3434

35-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
35+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_

‎perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/mu_ssp.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/mu_ssp.hpp

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

15-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
16-
#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
15+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
16+
#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
1717

18-
#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp"
18+
#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp"
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2020
#include <unordered_map>
2121
#include <vector>
@@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface
3434
};
3535
} // namespace autoware::tracking_object_merger::gnn_solver
3636

37-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
37+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_

‎perception/tracking_object_merger/include/autoware_tracking_object_merger/association/solver/ssp.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/association/solver/ssp.hpp

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

15-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
16-
#define AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
15+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
16+
#define AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
1717

18-
#include "autoware_tracking_object_merger/association/solver/gnn_solver_interface.hpp"
18+
#include "autoware/tracking_object_merger/association/solver/gnn_solver_interface.hpp"
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#include <unordered_map>
2121
#include <vector>
@@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface
3434
};
3535
} // namespace autoware::tracking_object_merger::gnn_solver
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37-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
37+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_

‎perception/tracking_object_merger/src/decorative_tracker_merger_node.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/decorative_tracker_merger_node.hpp

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@@ -12,15 +12,15 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef DECORATIVE_TRACKER_MERGER_NODE_HPP_
16-
#define DECORATIVE_TRACKER_MERGER_NODE_HPP_
15+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_
16+
#define AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_
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18+
#include "autoware/tracking_object_merger/association/data_association.hpp"
19+
#include "autoware/tracking_object_merger/utils/tracker_state.hpp"
20+
#include "autoware/tracking_object_merger/utils/utils.hpp"
1821
#include "autoware/universe_utils/ros/debug_publisher.hpp"
1922
#include "autoware/universe_utils/ros/published_time_publisher.hpp"
2023
#include "autoware/universe_utils/system/stop_watch.hpp"
21-
#include "autoware_tracking_object_merger/association/data_association.hpp"
22-
#include "autoware_tracking_object_merger/utils/tracker_state.hpp"
23-
#include "autoware_tracking_object_merger/utils/utils.hpp"
2424

2525
#include <rclcpp/rclcpp.hpp>
2626

@@ -133,4 +133,4 @@ class DecorativeTrackerMergerNode : public rclcpp::Node
133133

134134
} // namespace autoware::tracking_object_merger
135135

136-
#endif // DECORATIVE_TRACKER_MERGER_NODE_HPP_
136+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__DECORATIVE_TRACKER_MERGER_NODE_HPP_

‎perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/tracker_state.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/tracker_state.hpp

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

15-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
16-
#define AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
15+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
16+
#define AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
1717

1818
#include <Eigen/Core>
1919
#include <Eigen/Geometry>
@@ -149,4 +149,4 @@ TrackedObjects getTrackedObjectsFromTrackerStates(
149149
std::vector<TrackerState> & tracker_states, const rclcpp::Time & time);
150150
} // namespace autoware::tracking_object_merger
151151

152-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_
152+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__TRACKER_STATE_HPP_

‎perception/tracking_object_merger/include/autoware_tracking_object_merger/utils/utils.hpp ‎perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp

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1414
//
1515
//
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17-
#ifndef AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
18-
#define AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
17+
#ifndef AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
18+
#define AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
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2020
#include "autoware/universe_utils/geometry/geometry.hpp"
2121

@@ -100,4 +100,4 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su
100100

101101
} // namespace autoware::tracking_object_merger
102102

103-
#endif // AUTOWARE_TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
103+
#endif // AUTOWARE__TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_

‎perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml ‎perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml

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33
<arg name="input/main_object" default="main_object"/>
44
<arg name="input/sub_object" default="sub_object"/>
55
<arg name="output" default="merged_object"/>
6-
<arg name="data_association_matrix_path" default="$(find-pkg-share tracking_object_merger)/config/data_association_matrix.param.yaml"/>
7-
<arg name="merge_options_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
8-
<arg name="node_param_file_path" default="$(find-pkg-share tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
6+
<arg name="data_association_matrix_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/data_association_matrix.param.yaml"/>
7+
<arg name="merge_options_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
8+
<arg name="node_param_file_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
99

10-
<node pkg="tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
10+
<node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
1111
<remap from="input/main_object" to="$(var input/main_object)"/>
1212
<remap from="input/sub_object" to="$(var input/sub_object)"/>
1313
<remap from="output/object" to="$(var output)"/>

‎perception/tracking_object_merger/package.xml ‎perception/autoware_tracking_object_merger/package.xml

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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>tracking_object_merger</name>
4+
<name>autoware_tracking_object_merger</name>
55
<version>0.0.0</version>
66
<description>merge tracking object</description>
77
<maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>

‎perception/tracking_object_merger/src/association/data_association.cpp ‎perception/autoware_tracking_object_merger/src/association/data_association.cpp

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1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware_tracking_object_merger/association/data_association.hpp"
15+
#include "autoware/tracking_object_merger/association/data_association.hpp"
1616

17+
#include "autoware/tracking_object_merger/association/solver/gnn_solver.hpp"
18+
#include "autoware/tracking_object_merger/utils/utils.hpp"
1719
#include "autoware/universe_utils/geometry/geometry.hpp"
18-
#include "autoware_tracking_object_merger/association/solver/gnn_solver.hpp"
19-
#include "autoware_tracking_object_merger/utils/utils.hpp"
2020
#include "object_recognition_utils/object_recognition_utils.hpp"
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#include <algorithm>

‎perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp ‎perception/autoware_tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp

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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware_tracking_object_merger/association/solver/mu_ssp.hpp"
15+
#include "autoware/tracking_object_merger/association/solver/mu_ssp.hpp"
1616

1717
#include <mussp/mussp.h>
1818

‎perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp ‎perception/autoware_tracking_object_merger/src/association/solver/successive_shortest_path.cpp

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1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware_tracking_object_merger/association/solver/ssp.hpp"
15+
#include "autoware/tracking_object_merger/association/solver/ssp.hpp"
1616

1717
#include <algorithm>
1818
#include <cassert>

‎perception/tracking_object_merger/src/decorative_tracker_merger_node.cpp ‎perception/autoware_tracking_object_merger/src/decorative_tracker_merger_node.cpp

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1515
#define EIGEN_MPL2_ONLY
1616

17-
#include "decorative_tracker_merger_node.hpp"
17+
#include "autoware/tracking_object_merger/decorative_tracker_merger_node.hpp"
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#include "autoware_tracking_object_merger/association/solver/ssp.hpp"
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#include "autoware_tracking_object_merger/utils/utils.hpp"
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#include "autoware/tracking_object_merger/association/solver/ssp.hpp"
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#include "autoware/tracking_object_merger/utils/utils.hpp"
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#include "object_recognition_utils/object_recognition_utils.hpp"
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#include <Eigen/Core>

‎perception/tracking_object_merger/src/utils/tracker_state.cpp ‎perception/autoware_tracking_object_merger/src/utils/tracker_state.cpp

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@@ -12,9 +12,9 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware_tracking_object_merger/utils/tracker_state.hpp"
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#include "autoware/tracking_object_merger/utils/tracker_state.hpp"
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#include "autoware_tracking_object_merger/utils/utils.hpp"
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#include "autoware/tracking_object_merger/utils/utils.hpp"
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namespace autoware::tracking_object_merger
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{

‎perception/tracking_object_merger/src/utils/utils.cpp ‎perception/autoware_tracking_object_merger/src/utils/utils.cpp

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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware_tracking_object_merger/utils/utils.hpp"
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#include "autoware/tracking_object_merger/utils/utils.hpp"
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#include "autoware_perception_msgs/msg/shape.hpp"
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#include "autoware_perception_msgs/msg/tracked_object.hpp"

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