feat: apply autoware_ prefix for learning_based_vehicle_model (autowarefoundation#9991)

sasakisasaki · web-flow · commit de9243951436 · 2025-01-24T20:13:25.000+09:00
Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;
Signed-off-by: Shintaro Sakoda &lt;shintaro.sakoda@tier4.jp&gt;
Signed-off-by: Ryohsuke Mitsudome &lt;ryohsuke.mitsudome@tier4.jp&gt;
diff --git 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/CMakeLists.txt b/simulator/autoware_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/autoware_learning_based_vehicle_model/README.md b/simulator/autoware_learning_based_vehicle_model/README.md
diff --git a/simulator/autoware_learning_based_vehicle_model/image/python_model_interface.png b/simulator/autoware_learning_based_vehicle_model/image/python_model_interface.png
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
@@ -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.
@@ -12,12 +12,12 @@
 // 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__LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
+#define AUTOWARE__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 <dlfcn.h>
 #include <pybind11/embed.h>
@@ -29,6 +29,9 @@
 #include <tuple>
 #include <vector>
 
+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<double> updatePyModel(std::vector<double> psim_input);
 };
 
-#endif  // LEARNING_BASED_VEHICLE_MODEL__INTERCONNECTED_MODEL_HPP_
+}  // namespace autoware::simulator::learning_based_vehicle_model
+
+#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
@@ -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.
@@ -12,17 +12,22 @@
 // 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__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
+#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
 
 #include <cstring>
 #include <vector>
 
+namespace autoware::simulator::learning_based_vehicle_model
+{
+
 std::vector<double> fillVectorUsingMap(
   std::vector<double> vector1, std::vector<double> vector2, const std::vector<int> & map,
   bool inverse);
 
 std::vector<int> createConnectionsMap(
   const std::vector<char *> & connection_names_1, const std::vector<char *> & connection_names_2);
 
-#endif  // LEARNING_BASED_VEHICLE_MODEL__MODEL_CONNECTIONS_HELPERS_HPP_
+}  // namespace autoware::simulator::learning_based_vehicle_model
+
+#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
@@ -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.
@@ -13,18 +13,21 @@
 // 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__LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
+#define AUTOWARE__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 <pybind11/embed.h>
 #include <pybind11/stl.h>
 
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::learning_based_vehicle_model
+{
+
 namespace py = pybind11;
 
 /**
@@ -99,4 +102,6 @@ class SimplePyModel : public SubModelInterface
   void mapOutputs(std::vector<char *> signals_vec_names) override;
 };
 
-#endif  // LEARNING_BASED_VEHICLE_MODEL__SIMPLE_PYMODEL_HPP_
+}  // namespace autoware::simulator::learning_based_vehicle_model
+
+#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
@@ -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__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
+#define AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
 
 #include <vector>
 
+namespace autoware::simulator::learning_based_vehicle_model
+{
+
 class SubModelInterface
 {
 public:
@@ -59,4 +62,6 @@ class SubModelInterface
     std::vector<double> model_signals_vec, std::vector<double> model_signals_vec_next) = 0;
 };
 
-#endif  // LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
+}  // namespace autoware::simulator::learning_based_vehicle_model
+
+#endif  // AUTOWARE__LEARNING_BASED_VEHICLE_MODEL__SUBMODEL_INTERFACE_HPP_
diff --git a/simulator/autoware_learning_based_vehicle_model/package.xml b/simulator/autoware_learning_based_vehicle_model/package.xml
@@ -1,11 +1,12 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>learning_based_vehicle_model</name>
+  <name>autoware_learning_based_vehicle_model</name>
   <version>0.40.0</version>
-  <description>learning_based_vehicle_model for simple_planning_simulator</description>
+  <description>autoware_learning_based_vehicle_model for simple_planning_simulator</description>
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
   <maintainer email="nagy.tomas@tier4.jp">Tomas Nagy</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
diff --git a/simulator/autoware_learning_based_vehicle_model/src/interconnected_model.cpp b/simulator/autoware_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.
@@ -12,12 +12,15 @@
 // 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 <string>
 #include <tuple>
 #include <vector>
 
+namespace autoware::simulator::learning_based_vehicle_model
+{
+
 void InterconnectedModel::mapInputs(std::vector<char *> 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<double> InterconnectedModel::updatePyModel(std::vector<double> psim_
 
   return psim_next_state;
 }
+
+}  // namespace autoware::simulator::learning_based_vehicle_model
diff --git a/simulator/autoware_learning_based_vehicle_model/src/model_connections_helpers.cpp b/simulator/autoware_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.
@@ -12,10 +12,13 @@
 // 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 <vector>
 
+namespace autoware::simulator::learning_based_vehicle_model
+{
+
 std::vector<double> fillVectorUsingMap(
   std::vector<double> vector1, std::vector<double> vector2, const std::vector<int> & map,
   bool inverse)
@@ -48,3 +51,5 @@ std::vector<int> createConnectionsMap(
   }
   return connection_map;
 }
+
+}  // namespace autoware::simulator::learning_based_vehicle_model
diff --git a/simulator/autoware_learning_based_vehicle_model/src/simple_pymodel.cpp b/simulator/autoware_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.
@@ -12,14 +12,17 @@
 // 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 <pybind11/embed.h>
 #include <pybind11/stl.h>
 
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::learning_based_vehicle_model
+{
+
 namespace py = pybind11;
 
 SimplePyModel::SimplePyModel(
@@ -110,3 +113,5 @@ void SimplePyModel::mapOutputs(std::vector<char *> 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/autoware_learning_based_vehicle_model/src/submodel_interface.cpp b/simulator/autoware_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.
@@ -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"
diff --git a/simulator/autoware_simple_planning_simulator/CMakeLists.txt b/simulator/autoware_simple_planning_simulator/CMakeLists.txt
@@ -3,7 +3,7 @@ project(autoware_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 "autoware::simulator::simple_planning_simulator::SimplePlanningSimulator"
diff --git a/simulator/autoware_simple_planning_simulator/README.md b/simulator/autoware_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/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
 #define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
 
+#include "autoware/learning_based_vehicle_model/interconnected_model.hpp"
 #include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
-#include "learning_based_vehicle_model/interconnected_model.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -77,7 +77,7 @@ 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/autoware_simple_planning_simulator/package.xml b/simulator/autoware_simple_planning_simulator/package.xml
@@ -19,6 +19,7 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
+  <depend>autoware_learning_based_vehicle_model</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
@@ -27,7 +28,6 @@
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
-  <depend>learning_based_vehicle_model</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/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 <algorithm>
 #include <string>
