feat: add gnss/imu localizer

.github/CODEOWNERS

@@ -4,7 +4,7 @@
 common/autoware_ad_api_specs/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 common/autoware_auto_common/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/autoware_auto_geometry/** [email protected] @autowarefoundation/autoware-global-codeowners
-common/autoware_auto_perception_rviz_plugin/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
+common/autoware_auto_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 common/autoware_auto_tf2/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/autoware_point_types/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/autoware_testing/** [email protected] @autowarefoundation/autoware-global-codeowners
@@ -17,7 +17,7 @@ common/fake_test_node/** [email protected] @autowarefoundation/autoware-global-
 common/global_parameter_loader/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/goal_distance_calculator/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/grid_map_utils/** [email protected] @autowarefoundation/autoware-global-codeowners
-common/interpolation/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
+common/interpolation/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 common/kalman_filter/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 common/motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
@@ -45,12 +45,12 @@ common/tier4_vehicle_rviz_plugin/** [email protected] @autowarefoundation/
 common/time_utils/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/trtexec_vendor/** [email protected] @autowarefoundation/autoware-global-codeowners
 common/tvm_utility/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
-control/control_performance_analysis/** ali.boyali@tier4.jp [email protected] @autowarefoundation/autoware-global-codeowners
-control/external_cmd_selector/** [email protected] @autowarefoundation/autoware-global-codeowners
-control/joy_controller/** [email protected] @autowarefoundation/autoware-global-codeowners
+control/control_performance_analysis/** [email protected] fumiya.watanabe@tier4.jp [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
+control/external_cmd_selector/** [email protected] kenji.miyake@tier4.jp [email protected] [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+control/joy_controller/** [email protected] kenji.miyake@tier4.jp [email protected] [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/lane_departure_checker/** [email protected] @autowarefoundation/autoware-global-codeowners
 control/mpc_lateral_controller/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
-control/obstacle_collision_checker/** [email protected] @autowarefoundation/autoware-global-codeowners
+control/obstacle_collision_checker/** [email protected] kenji.miyake@tier4.jp [email protected] [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/operation_mode_transition_manager/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 control/pid_longitudinal_controller/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 control/pure_pursuit/** [email protected] @autowarefoundation/autoware-global-codeowners
@@ -79,6 +79,7 @@ localization/pose2twist/** [email protected] @autowarefoundation/autoware-glo
 localization/pose_initializer/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 localization/stop_filter/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 localization/twist2accel/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
+map/map_height_fitter/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 map/map_loader/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 map/map_tf_generator/** [email protected] @autowarefoundation/autoware-global-codeowners
 map/util/lanelet2_map_preprocessor/** [email protected] @autowarefoundation/autoware-global-codeowners
@@ -120,20 +121,19 @@ planning/external_velocity_limit_selector/** [email protected] shinnosuke.hir
 planning/freespace_planner/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/freespace_planning_algorithms/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/mission_planner/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
-planning/motion_velocity_smoother/** [email protected] @autowarefoundation/autoware-global-codeowners
+planning/motion_velocity_smoother/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/obstacle_avoidance_planner/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/obstacle_cruise_planner/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/obstacle_velocity_limiter/** [email protected] @autowarefoundation/autoware-global-codeowners
 planning/planning_debug_tools/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
-planning/planning_error_monitor/** [email protected] @autowarefoundation/autoware-global-codeowners
 planning/planning_evaluator/** [email protected] @autowarefoundation/autoware-global-codeowners
 planning/planning_validator/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/route_handler/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/rtc_auto_mode_manager/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/rtc_interface/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/rtc_replayer/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
-planning/scenario_selector/** [email protected] @autowarefoundation/autoware-global-codeowners
+planning/scenario_selector/** [email protected] kenji.miyake@tier4.jp [email protected] [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/static_centerline_optimizer/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 planning/surround_obstacle_checker/** [email protected] @autowarefoundation/autoware-global-codeowners
 sensing/geo_pos_conv/** [email protected] @autowarefoundation/autoware-global-codeowners
@@ -157,7 +157,7 @@ system/default_ad_api/** [email protected] [email protected] kenji.miyake
 system/default_ad_api_helpers/ad_api_adaptors/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 system/default_ad_api_helpers/ad_api_visualizers/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 system/default_ad_api_helpers/automatic_pose_initializer/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
-system/dummy_diag_publisher/** [email protected] @autowarefoundation/autoware-global-codeowners
+system/dummy_diag_publisher/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 system/dummy_infrastructure/** [email protected] @autowarefoundation/autoware-global-codeowners
 system/emergency_handler/** [email protected] [email protected] @autowarefoundation/autoware-global-codeowners
 system/mrm_comfortable_stop_operator/** [email protected] @autowarefoundation/autoware-global-codeowners

.pre-commit-config.yaml

@@ -1,6 +1,5 @@
 ci:
   autofix_commit_msg: "style(pre-commit): autofix"
-  autoupdate_commit_msg: "ci(pre-commit): autoupdate"
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
@@ -61,7 +60,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 22.12.0
+    rev: 23.1.0
     hooks:
       - id: black
         args: [--line-length=100]

common/autoware_auto_common/include/helper_functions/message_adapters.hpp

@@ -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

common/autoware_auto_common/test/test_template_utils.cpp

@@ -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(

common/autoware_auto_geometry/design/polygon_intersection_2d-design.md

@@ -2,7 +2,7 @@
 
 Two convex polygon's intersection can be visualized on the image below as the blue area:
 
-<img src="convex_polygon_intersection.png">
+<!-- <img src="convex_polygon_intersection.png"> -->
 
 ## Purpose / Use cases
 

common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp

@@ -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

common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp

@@ -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;
 }