tohmae
diff --git a/‎common/autoware_auto_common/include/helper_functions/message_adapters.hpp
+1-1 b/‎common/autoware_auto_common/include/helper_functions/message_adapters.hpp
+1-1
diff --git a/‎common/autoware_auto_common/test/test_template_utils.cpp
+1 b/‎common/autoware_auto_common/test/test_template_utils.cpp
+1
diff --git a/‎common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp
+2-2 b/‎common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp
+2-2
diff --git a/‎common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp
+25-22 b/‎common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp
+25-22
diff --git a/‎common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp
+10-8 b/‎common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp
+10-8
diff --git a/‎common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp
+3-3 b/‎common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp
+3-3
diff --git a/‎common/autoware_auto_geometry/include/geometry/common_2d.hpp
+5-4 b/‎common/autoware_auto_geometry/include/geometry/common_2d.hpp
+5-4
diff --git a/‎common/autoware_auto_geometry/include/geometry/convex_hull.hpp
+2 b/‎common/autoware_auto_geometry/include/geometry/convex_hull.hpp
+2
diff --git a/‎common/autoware_auto_geometry/include/geometry/intersection.hpp
+5-2 b/‎common/autoware_auto_geometry/include/geometry/intersection.hpp
+5-2
diff --git a/‎common/autoware_auto_geometry/include/geometry/interval.hpp
+3-3 b/‎common/autoware_auto_geometry/include/geometry/interval.hpp
+3-3
@@ -34,7 +34,7 @@ namespace message_field_adapters
 /// Using alias for Time message
 using TimeStamp = builtin_interfaces::msg::Time;
 
-/// \brief Helper class to check existance of header file in compile time:
+/// \brief Helper class to check existence of header file in compile time:
 /// https://stackoverflow.com/a/16000226/2325407
 template <typename T, typename = nullptr_t>
 struct HasHeader : std::false_type
 
@@ -60,6 +60,7 @@ template <typename FooT, typename In1, typename In2>
 using false_bar_expression2 =
   decltype(std::declval<FooT>().bar(std::declval<In1>(), std::declval<const In2 &>()));
 
+// cspell: ignore asdasd
 // Signature mismatch:
 template <typename FooT, typename In1, typename In2, typename In3>
 using false_bar_expression3 = decltype(std::declval<FooT>().asdasd(
 
@@ -107,7 +107,7 @@ template <typename PointT>
 using Point4 = std::array<PointT, 4U>;
 
 /// \brief Helper struct for compile time introspection of array size from
-/// stackoverflow.com/questions/16866033/getting-the-number-of-elements-in-stdarray-at-compile-time
+///        Ref: https://stackoverflow.com/questions/16866033
 template <typename>
 struct array_size;
 template <typename T, std::size_t N>
@@ -132,7 +132,7 @@ finalize_box(const decltype(BoundingBox::corners) & corners, BoundingBox & box);
 
 /// \brief given support points and two orthogonal directions, compute corners of bounding box
 /// \tparam PointT Type of a point, must have float members x and y`
-/// \tparam IT An iterator dereferencable into PointT
+/// \tparam IT An iterator dereferenceable into PointT
 /// \param[out] corners Gets filled with corner points of bounding box
 /// \param[in] supports Iterators referring to support points of current bounding box
 ///                     e.g. bounding box is touching these points
 
@@ -18,6 +18,7 @@
 /// \brief This file implements 2D pca on a linked list of points to estimate an oriented
 ///        bounding box
 
+// cspell: ignore eigenbox, EIGENBOX
 #ifndef GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
 #define GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
 
@@ -50,11 +51,12 @@ struct Covariance2d
   std::size_t num_points;
 };  // struct Covariance2d
 
+// cspell: ignore Welford
 /// \brief Compute 2d covariance matrix of a list of points using Welford's online algorithm
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
-/// \return A 2d covariance matrix for all points inthe list
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
+/// \return A 2d covariance matrix for all points in the list
 template <typename IT>
 Covariance2d covariance_2d(const IT begin, const IT end)
 {
@@ -93,13 +95,14 @@ Covariance2d covariance_2d(const IT begin, const IT end)
 
 /// \brief Compute eigenvectors and eigenvalues
 /// \param[in] cov 2d Covariance matrix
-/// \param[out] eigvec1 First eigenvector
-/// \param[out] eigvec2 Second eigenvector
+/// \param[out] eig_vec1 First eigenvector
+/// \param[out] eig_vec2 Second eigenvector
 /// \tparam PointT Point type that has at least float members x and y
 /// \return A pairt of eigenvalues: The first is the larger eigenvalue
 /// \throw std::runtime error if you would get degenerate covariance
 template <typename PointT>
-std::pair<float32_t, float32_t> eig_2d(const Covariance2d & cov, PointT & eigvec1, PointT & eigvec2)
+std::pair<float32_t, float32_t> eig_2d(
+  const Covariance2d & cov, PointT & eig_vec1, PointT & eig_vec2)
 {
   const float32_t tr_2 = (cov.xx + cov.yy) * 0.5F;
   const float32_t det = (cov.xx * cov.yy) - (cov.xy * cov.xy);
@@ -120,28 +123,28 @@ std::pair<float32_t, float32_t> eig_2d(const Covariance2d & cov, PointT & eigvec
   // are persistent against further calculations.
   // (e.g. taking cross product of two eigen vectors)
   if (fabsf(cov.xy * cov.xy) > std::numeric_limits<float32_t>::epsilon()) {
-    xr_(eigvec1) = cov.xy;
-    yr_(eigvec1) = ret.first - cov.xx;
-    xr_(eigvec2) = cov.xy;
-    yr_(eigvec2) = ret.second - cov.xx;
+    xr_(eig_vec1) = cov.xy;
+    yr_(eig_vec1) = ret.first - cov.xx;
+    xr_(eig_vec2) = cov.xy;
+    yr_(eig_vec2) = ret.second - cov.xx;
   } else {
     if (cov.xx > cov.yy) {
-      xr_(eigvec1) = 1.0F;
-      yr_(eigvec1) = 0.0F;
-      xr_(eigvec2) = 0.0F;
-      yr_(eigvec2) = 1.0F;
+      xr_(eig_vec1) = 1.0F;
+      yr_(eig_vec1) = 0.0F;
+      xr_(eig_vec2) = 0.0F;
+      yr_(eig_vec2) = 1.0F;
     } else {
-      xr_(eigvec1) = 0.0F;
-      yr_(eigvec1) = 1.0F;
-      xr_(eigvec2) = 1.0F;
-      yr_(eigvec2) = 0.0F;
+      xr_(eig_vec1) = 0.0F;
+      yr_(eig_vec1) = 1.0F;
+      xr_(eig_vec2) = 1.0F;
+      yr_(eig_vec2) = 0.0F;
     }
   }
   return ret;
 }
 
 /// \brief Given eigenvectors, compute support (furthest) point in each direction
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \tparam PointT type of a point with float members x and y
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
@@ -183,7 +186,7 @@ bool8_t compute_supports(
 }
 
 /// \brief Compute bounding box given a pair of basis directions
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \tparam PointT Point type of the lists, must have float members x and y
 /// \param[in] ax1 First basis direction, assumed to be normal to ax2
 /// \param[in] ax2 Second basis direction, assumed to be normal to ax1, assumed to be ccw wrt ax1
@@ -210,7 +213,7 @@ BoundingBox compute_bounding_box(
 ///        modify the list. The resulting bounding box is not necessarily minimum in any way
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \return An oriented bounding box in x-y. This bounding box has no height information
 template <typename IT>
 BoundingBox eigenbox_2d(const IT begin, const IT end)
@@ -222,7 +225,7 @@ BoundingBox eigenbox_2d(const IT begin, const IT end)
   using PointT = details::base_type<decltype(*begin)>;
   PointT eig1;
   PointT eig2;
-  const auto eigv = details::eig_2d(cov, eig1, eig2);
+  const auto eig_v = details::eig_2d(cov, eig1, eig2);
 
   // find extreme points
   details::Point4<IT> supports;
@@ -232,7 +235,7 @@ BoundingBox eigenbox_2d(const IT begin, const IT end)
     std::swap(eig1, eig2);
   }
   BoundingBox bbox = details::compute_bounding_box(eig1, eig2, supports);
-  bbox.value = eigv.first;
+  bbox.value = eig_v.first;
 
   return bbox;
 }
 
@@ -18,6 +18,8 @@
 /// \brief This file implements 2D pca on a linked list of points to estimate an oriented
 ///        bounding box
 
+// cspell: ignore LFIT, lfit
+// LFIT means "L-Shape Fitting"
 #ifndef GEOMETRY__BOUNDING_BOX__LFIT_HPP_
 #define GEOMETRY__BOUNDING_BOX__LFIT_HPP_
 
@@ -117,8 +119,8 @@ float32_t solve_lfit(const LFitWs & ws, PointT & dir)
                        ws.m22d - (((ws.m12b * ws.m12b) * pi) + ((ws.m12d * ws.m12d) * qi)),
                        ws.m22b - (((ws.m12a * ws.m12b) * pi) + ((ws.m12c * ws.m12d) * qi)), 0UL};
   PointT eig1;
-  const auto eigv = eig_2d(M, eig1, dir);
-  return eigv.second;
+  const auto eig_v = eig_2d(M, eig1, dir);
+  return eig_v.second;
 }
 
 /// \brief Increments L fit M matrix with information in the point
@@ -176,7 +178,7 @@ class LFitCompare
 /// \param[in] end An iterator pointing to one past the last point in the point list
 /// \param[in] size The number of points in the point list
 /// \return A bounding box that minimizes the LFit residual
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 template <typename IT>
 BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::size_t size)
 {
@@ -207,11 +209,11 @@ BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::s
     }
   }
   // can recover best corner point, but don't care, need to cover all points
-  const auto inorm = 1.0F / norm_2d(best_normal);
-  if (!std::isnormal(inorm)) {
+  const auto inv_norm = 1.0F / norm_2d(best_normal);
+  if (!std::isnormal(inv_norm)) {
     throw std::runtime_error{"LFit: Abnormal norm"};
   }
-  best_normal = times_2d(best_normal, inorm);
+  best_normal = times_2d(best_normal, inv_norm);
   auto best_tangent = get_normal(best_normal);
   // find extreme points
   Point4<IT> supports;
@@ -235,7 +237,7 @@ BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::s
 /// \param[in] hint An iterator pointing to the point whose normal will be used to sort the list
 /// \return A pair where the first element is an iterator pointing to the nearest point, and the
 ///         second element is the size of the list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \throw std::domain_error If the number of points is too few
 template <typename IT, typename PointT>
 BoundingBox lfit_bounding_box_2d(
@@ -258,7 +260,7 @@ BoundingBox lfit_bounding_box_2d(
 /// \return An oriented bounding box in x-y. This bounding box has no height information
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 template <typename IT>
 BoundingBox lfit_bounding_box_2d(const IT begin, const IT end)
 {
 
@@ -139,7 +139,7 @@ void init_bbox(const IT begin, const IT end, Point4<IT> & support)
 /// \param[in] end An iterator to one past the last point on a convex hull
 /// \param[in] metric_fn A functor determining what measure the bounding box is minimum with respect
 ///                      to
-/// \tparam IT An iterator type dereferencable into a point type with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point type with float members x and y
 /// \tparam MetricF A functor that computes a float measure from the x and y size (width and length)
 ///                 of a bounding box, assumed to be packed in a Point32 message.
 /// \throw std::domain_error if the list of points is too small to reasonable generate a bounding
@@ -223,7 +223,7 @@ BoundingBox rotating_calipers_impl(const IT begin, const IT end, const MetricF m
 /// \param[in] begin An iterator to the first point on a convex hull
 /// \param[in] end An iterator to one past the last point on a convex hull
 /// \return A minimum area bounding box, value field is the area
-/// \tparam IT An iterator type dereferencable into a point type with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point type with float members x and y
 template <typename IT>
 BoundingBox minimum_area_bounding_box(const IT begin, const IT end)
 {
@@ -238,7 +238,7 @@ BoundingBox minimum_area_bounding_box(const IT begin, const IT end)
 /// \param[in] begin An iterator to the first point on a convex hull
 /// \param[in] end An iterator to one past the last point on a convex hull
 /// \return A minimum perimeter bounding box, value field is half the perimeter
-/// \tparam IT An iterator type dereferencable into a point type with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point type with float members x and y
 template <typename IT>
 BoundingBox minimum_perimeter_bounding_box(const IT begin, const IT end)
 {
 
@@ -262,7 +262,6 @@ T times_2d(const T & p, const float32_t a)
 /// \tparam T point type. Must have point adapters defined or have float members x and y
 /// \brief solve p + t * u = q + s * v
 ///        Ref: https://stackoverflow.com/questions/563198/
-///             whats-the-most-efficent-way-to-calculate-where-two-line-segments-intersect
 /// \param[in] pt anchor point of first line
 /// \param[in] u direction of first line
 /// \param[in] q anchor point of second line
@@ -274,6 +273,8 @@ inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v)
 {
   const float32_t num = cross_2d(minus_2d(pt, q), u);
   float32_t den = cross_2d(v, u);
+  // cspell: ignore FEPS
+  // FEPS means "Float EPSilon"
   constexpr auto FEPS = std::numeric_limits<float32_t>::epsilon();
   if (fabsf(den) < FEPS) {
     if (fabsf(num) < FEPS) {
@@ -292,7 +293,7 @@ inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v)
 /// \brief rotate point given precomputed sin and cos
 /// \param[inout] pt point to rotate
 /// \param[in] cos_th precomputed cosine value
-/// \param[in] sin_th precompined sine value
+/// \param[in] sin_th precomputed sine value
 template <typename T>
 inline void rotate_2d(T & pt, const float32_t cos_th, const float32_t sin_th)
 {
@@ -321,7 +322,7 @@ inline T rotate_2d(const T & pt, const float32_t th_rad)
 /// \brief compute q s.t. p T q, or p * q = 0
 ///        This is the equivalent of a 90 degree ccw rotation
 /// \param[in] pt point to get normal point of
-/// \return point normal to p (unnormalized)
+/// \return point normal to p (un-normalized)
 template <typename T>
 inline T get_normal(const T & pt)
 {
@@ -334,7 +335,7 @@ inline T get_normal(const T & pt)
 /// \tparam T point type. Must have point adapters defined or have float members x and y
 /// \brief get magnitude of x and y components:
 /// \param[in] pt point to get magnitude of
-/// \return magitude of x and y components together
+/// \return magnitude of x and y components together
 template <typename T>
 inline auto norm_2d(const T & pt)
 {
 
@@ -136,6 +136,8 @@ typename std::list<PointT>::const_iterator convex_hull_impl(std::list<PointT> &
   const auto lexical_comparator = [](const PointT & a, const PointT & b) -> bool8_t {
     using point_adapter::x_;
     using point_adapter::y_;
+    // cspell: ignore FEPS
+    // FEPS means "Float EPSilon"
     constexpr auto FEPS = std::numeric_limits<float32_t>::epsilon();
     return (fabsf(x_(a) - x_(b)) > FEPS) ? (x_(a) < x_(b)) : (y_(a) < y_(b));
   };
 
@@ -83,7 +83,7 @@ std::vector<Line> get_sorted_face_list(const Iter start, const Iter end)
   return face_list;
 }
 
-/// \brief Append points of the polygon `internal` that are contained in the polygon `exernal`.
+/// \brief Append points of the polygon `internal` that are contained in the polygon `external`.
 template <
   template <typename...> class Iterable1T, template <typename...> class Iterable2T, typename PointT>
 void append_contained_points(
@@ -147,6 +147,9 @@ void append_intersection_points(
           std::min(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second)),
           std::max(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second))};
 
+        // cspell: ignore feps
+        // feps means "Float EPSilon"
+
         // The accumulated floating point error depends on the magnitudes of each end of the
         // intervals. Hence the upper bound of the absolute magnitude should be taken into account
         // while computing the epsilon.
@@ -274,7 +277,7 @@ std::list<PointT> convex_polygon_intersection2d(
 /// \param polygon1 A convex polygon
 /// \param polygon2 A convex polygon
 /// \return (Intersection / Union) between two given polygons.
-/// \throws std::domain_error If there is any inconsistency on the undderlying geometrical
+/// \throws std::domain_error If there is any inconsistency on the underlying geometrical
 /// computation.
 template <
   template <typename...> class Iterable1T, template <typename...> class Iterable2T, typename PointT>
 
@@ -256,8 +256,8 @@ bool Interval<T>::abs_eq(const Interval & i1, const Interval & i2, const T & eps
   const auto both_non_empty = !Interval::empty(i1) && !Interval::empty(i2);
 
   const auto mins_equal = comp::abs_eq(Interval::min(i1), Interval::min(i2), eps);
-  const auto maxs_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);
-  const auto both_non_empty_equal = both_non_empty && mins_equal && maxs_equal;
+  const auto maxes_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);
+  const auto both_non_empty_equal = both_non_empty && mins_equal && maxes_equal;
 
   return both_empty || both_non_empty_equal;
 }
@@ -286,7 +286,7 @@ bool Interval<T>::bounds_valid(const Interval & i)
 {
   const auto is_ordered = (Interval::min(i) <= Interval::max(i));
 
-  // Check for emptiness expicitly because it requires both bounds to be NaN
+  // Check for emptiness explicitly because it requires both bounds to be NaN
   return Interval::empty(i) || is_ordered;
 }
Original file line number	Diff line number	Diff line change
`@@ -256,8 +256,8 @@ bool Interval<T>::abs_eq(const Interval & i1, const Interval & i2, const T & eps`
`256`	`256`	`const auto both_non_empty = !Interval::empty(i1) && !Interval::empty(i2);`
`257`	`257`
`258`	`258`	`const auto mins_equal = comp::abs_eq(Interval::min(i1), Interval::min(i2), eps);`
`259`		`- const auto maxs_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);`
`260`		`- const auto both_non_empty_equal = both_non_empty && mins_equal && maxs_equal;`
	`259`	`+ const auto maxes_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);`
	`260`	`+ const auto both_non_empty_equal = both_non_empty && mins_equal && maxes_equal;`
`261`	`261`
`262`	`262`	`return both_empty \|\| both_non_empty_equal;`
`263`	`263`	`}`
`@@ -286,7 +286,7 @@ bool Interval<T>::bounds_valid(const Interval & i)`
`286`	`286`	`{`
`287`	`287`	`const auto is_ordered = (Interval::min(i) <= Interval::max(i));`
`288`	`288`
`289`		`- // Check for emptiness expicitly because it requires both bounds to be NaN`
	`289`	`+ // Check for emptiness explicitly because it requires both bounds to be NaN`
`290`	`290`	`return Interval::empty(i) \|\| is_ordered;`
`291`	`291`	`}`
`292`	`292`