refactor(universe_utils): add autoware namespace

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Jun 19, 2024 · 454456c · 454456c
1 parent 87156a0
commit 454456c
Show file tree

Hide file tree

Showing 567 changed files with 2,944 additions and 2,924 deletions.
diff --git a/common/autoware_grid_map_utils/test/benchmark.cpp b/common/autoware_grid_map_utils/test/benchmark.cpp
@@ -46,7 +46,7 @@ int main(int argc, char * argv[])
   result_file
     << "#Size PolygonVertices PolygonIndexes grid_map_utils_constructor grid_map_utils_iteration "
        "grid_map_constructor grid_map_iteration\n";
-  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
+  autoware::universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
 
   constexpr auto nb_iterations = 10;
   constexpr auto polygon_side_vertices =

diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp
@@ -50,9 +50,9 @@ template <class T>
 bool validate_points_duplication(const T & points)
 {
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pt = autoware_universe_utils::getPoint(points.at(i));
-    const auto & next_pt = autoware_universe_utils::getPoint(points.at(i + 1));
-    const double ds = autoware_universe_utils::calcDistance2d(curr_pt, next_pt);
+    const auto & curr_pt = autoware::universe_utils::getPoint(points.at(i));
+    const auto & next_pt = autoware::universe_utils::getPoint(points.at(i + 1));
+    const double ds = autoware::universe_utils::calcDistance2d(curr_pt, next_pt);
     if (ds < close_s_threshold) {
       return false;
     }
@@ -67,27 +67,27 @@ bool validate_arguments(const T & input_points, const std::vector<double> & resa
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
   if (!validate_size(resampling_intervals)) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: The number of resampling intervals is less than 2");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // Check resampling range
   if (!validate_resampling_range(input_points, resampling_intervals)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
@@ -100,7 +100,7 @@ bool validate_arguments(const T & input_points, const double resampling_interval
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
@@ -109,14 +109,14 @@ bool validate_arguments(const T & input_points, const double resampling_interval
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: resampling interval is less than %f",
       autoware_motion_utils::overlap_threshold);
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    autoware_universe_utils::print_backtrace();
+    autoware::universe_utils::print_backtrace();
     return false;
   }
 

diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp
@@ -73,22 +73,22 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
   }
 
   if (points.size() < 2 || target_length < 0.0) {
-    return autoware_universe_utils::getPose(points.front());
+    return autoware::universe_utils::getPose(points.front());
   }
 
   double accumulated_length = 0;
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pose = autoware_universe_utils::getPose(points.at(i));
-    const auto & next_pose = autoware_universe_utils::getPose(points.at(i + 1));
-    const double length = autoware_universe_utils::calcDistance3d(curr_pose, next_pose);
+    const auto & curr_pose = autoware::universe_utils::getPose(points.at(i));
+    const auto & next_pose = autoware::universe_utils::getPose(points.at(i + 1));
+    const double length = autoware::universe_utils::calcDistance3d(curr_pose, next_pose);
     if (accumulated_length + length > target_length) {
       const double ratio = (target_length - accumulated_length) / std::max(length, 1e-6);
-      return autoware_universe_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
+      return autoware::universe_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
     }
     accumulated_length += length;
   }
 
-  return autoware_universe_utils::getPose(points.back());
+  return autoware::universe_utils::getPose(points.back());
 }
 
 }  // namespace autoware_motion_utils