diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 07b35e3e33045..55409047ab241 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -10,6 +10,7 @@ common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodr common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp +common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -27,7 +28,6 @@ common/object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/tensorrt_common/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp diff --git a/common/signal_processing/CMakeLists.txt b/common/autoware_signal_processing/CMakeLists.txt similarity index 94% rename from common/signal_processing/CMakeLists.txt rename to common/autoware_signal_processing/CMakeLists.txt index 89f14d4339223..7e6a0429fe93f 100644 --- a/common/signal_processing/CMakeLists.txt +++ b/common/autoware_signal_processing/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(signal_processing) +project(autoware_signal_processing) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/signal_processing/README.md b/common/autoware_signal_processing/README.md similarity index 100% rename from common/signal_processing/README.md rename to common/autoware_signal_processing/README.md diff --git a/common/signal_processing/documentation/ButterworthFilter.md b/common/autoware_signal_processing/documentation/ButterworthFilter.md similarity index 100% rename from common/signal_processing/documentation/ButterworthFilter.md rename to common/autoware_signal_processing/documentation/ButterworthFilter.md diff --git a/common/signal_processing/documentation/img.png b/common/autoware_signal_processing/documentation/img.png similarity index 100% rename from common/signal_processing/documentation/img.png rename to common/autoware_signal_processing/documentation/img.png diff --git a/common/signal_processing/include/signal_processing/butterworth.hpp b/common/autoware_signal_processing/include/autoware/signal_processing/butterworth.hpp similarity index 94% rename from common/signal_processing/include/signal_processing/butterworth.hpp rename to common/autoware_signal_processing/include/autoware/signal_processing/butterworth.hpp index 579a915cc9968..11099aca1f206 100644 --- a/common/signal_processing/include/signal_processing/butterworth.hpp +++ b/common/autoware_signal_processing/include/autoware/signal_processing/butterworth.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIGNAL_PROCESSING__BUTTERWORTH_HPP_ -#define SIGNAL_PROCESSING__BUTTERWORTH_HPP_ +#ifndef AUTOWARE__SIGNAL_PROCESSING__BUTTERWORTH_HPP_ +#define AUTOWARE__SIGNAL_PROCESSING__BUTTERWORTH_HPP_ #include #include @@ -21,6 +21,9 @@ #include #include +namespace autoware::signal_processing +{ + template const T & append_separator(const T & arg) { @@ -133,5 +136,6 @@ class ButterworthFilter // Computes continuous time roots from the phase angles void computeContinuousTimeRoots(bool const & use_sampling_frequency = false); }; +} // namespace autoware::signal_processing -#endif // SIGNAL_PROCESSING__BUTTERWORTH_HPP_ +#endif // AUTOWARE__SIGNAL_PROCESSING__BUTTERWORTH_HPP_ diff --git a/common/signal_processing/include/signal_processing/lowpass_filter.hpp b/common/autoware_signal_processing/include/autoware/signal_processing/lowpass_filter.hpp similarity index 82% rename from common/signal_processing/include/signal_processing/lowpass_filter.hpp rename to common/autoware_signal_processing/include/autoware/signal_processing/lowpass_filter.hpp index 89b7a6da263f7..f09e1dda461da 100644 --- a/common/signal_processing/include/signal_processing/lowpass_filter.hpp +++ b/common/autoware_signal_processing/include/autoware/signal_processing/lowpass_filter.hpp @@ -12,13 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_ -#define SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_ +#ifndef AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_ +#define AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_ -#include "signal_processing/lowpass_filter_1d.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include "geometry_msgs/msg/twist.hpp" +namespace autoware::signal_processing +{ /** * @class First-order low-pass filter * @brief filtering values @@ -51,5 +53,6 @@ class LowpassFilterTwist : public LowpassFilterInterface -namespace signal_processing +namespace autoware::signal_processing { double lowpassFilter(const double current_val, const double prev_val, const double gain); -} /** * @class First-order low-pass filter @@ -43,5 +42,6 @@ class LowpassFilter1d boost::optional getValue() const; double filter(const double u); }; +} // namespace autoware::signal_processing -#endif // SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_ +#endif // AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_ diff --git a/common/signal_processing/package.xml b/common/autoware_signal_processing/package.xml similarity index 96% rename from common/signal_processing/package.xml rename to common/autoware_signal_processing/package.xml index 2412f916dbd15..18841347dab9f 100644 --- a/common/signal_processing/package.xml +++ b/common/autoware_signal_processing/package.xml @@ -1,7 +1,7 @@ - signal_processing + autoware_signal_processing 0.1.0 The signal processing package Takayuki Murooka diff --git a/common/signal_processing/src/butterworth.cpp b/common/autoware_signal_processing/src/butterworth.cpp similarity index 98% rename from common/signal_processing/src/butterworth.cpp rename to common/autoware_signal_processing/src/butterworth.cpp index a0e4d61f1412b..7f491d443787b 100644 --- a/common/signal_processing/src/butterworth.cpp +++ b/common/autoware_signal_processing/src/butterworth.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "signal_processing/butterworth.hpp" +#include "autoware/signal_processing/butterworth.hpp" #include @@ -20,6 +20,8 @@ #include #include +namespace autoware::signal_processing +{ /** * @brief Computes the minimum of an analog Butterworth filter order and cut-off frequency give * the pass and stop-band frequencies and ripple magnitude (tolerances). @@ -341,3 +343,4 @@ void ButterworthFilter::printFilterSpecs() const rclcpp::get_logger("rclcpp"), "Cut-off Frequency : %2.2f rad/sec", this->filter_specs_.Wc_rad_sec); } +} // namespace autoware::signal_processing diff --git a/common/signal_processing/src/lowpass_filter.cpp b/common/autoware_signal_processing/src/lowpass_filter.cpp similarity index 89% rename from common/signal_processing/src/lowpass_filter.cpp rename to common/autoware_signal_processing/src/lowpass_filter.cpp index c5119828f4c52..6d275bb5023b3 100644 --- a/common/signal_processing/src/lowpass_filter.cpp +++ b/common/autoware_signal_processing/src/lowpass_filter.cpp @@ -12,8 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "signal_processing/lowpass_filter.hpp" +#include "autoware/signal_processing/lowpass_filter.hpp" +namespace autoware::signal_processing +{ geometry_msgs::msg::Twist LowpassFilterTwist::filter(const geometry_msgs::msg::Twist & u) { if (x_) { @@ -31,3 +33,4 @@ geometry_msgs::msg::Twist LowpassFilterTwist::filter(const geometry_msgs::msg::T x_ = u; return x_.get(); } +} // namespace autoware::signal_processing diff --git a/common/signal_processing/src/lowpass_filter_1d.cpp b/common/autoware_signal_processing/src/lowpass_filter_1d.cpp similarity index 89% rename from common/signal_processing/src/lowpass_filter_1d.cpp rename to common/autoware_signal_processing/src/lowpass_filter_1d.cpp index 08de005f736c1..f5835ae160ba7 100644 --- a/common/signal_processing/src/lowpass_filter_1d.cpp +++ b/common/autoware_signal_processing/src/lowpass_filter_1d.cpp @@ -12,15 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "signal_processing/lowpass_filter_1d.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" -namespace signal_processing +namespace autoware::signal_processing { double lowpassFilter(const double current_val, const double prev_val, const double gain) { return gain * prev_val + (1.0 - gain) * current_val; } -} // namespace signal_processing LowpassFilter1d::LowpassFilter1d(const double gain) : gain_(gain) { @@ -57,3 +56,4 @@ double LowpassFilter1d::filter(const double u) x_ = u; return x_.get(); } +} // namespace autoware::signal_processing diff --git a/common/signal_processing/test/include/butterworth_filter_test.hpp b/common/autoware_signal_processing/test/include/butterworth_filter_test.hpp similarity index 94% rename from common/signal_processing/test/include/butterworth_filter_test.hpp rename to common/autoware_signal_processing/test/include/butterworth_filter_test.hpp index 6a43b0b95a7e2..83b060373a442 100644 --- a/common/signal_processing/test/include/butterworth_filter_test.hpp +++ b/common/autoware_signal_processing/test/include/butterworth_filter_test.hpp @@ -15,9 +15,9 @@ #ifndef BUTTERWORTH_FILTER_TEST_HPP_ #define BUTTERWORTH_FILTER_TEST_HPP_ +#include "autoware/signal_processing/butterworth.hpp" #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" -#include "signal_processing/butterworth.hpp" class ButterWorthTestFixture : public ::testing::Test { diff --git a/common/signal_processing/test/src/butterworth_filter_test.cpp b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp similarity index 98% rename from common/signal_processing/test/src/butterworth_filter_test.cpp rename to common/autoware_signal_processing/test/src/butterworth_filter_test.cpp index d85b9a37f870f..bd5d1dbbf6948 100644 --- a/common/signal_processing/test/src/butterworth_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/butterworth_filter_test.cpp @@ -14,6 +14,8 @@ #include "butterworth_filter_test.hpp" +using autoware::signal_processing::ButterworthFilter; + TEST_F(ButterWorthTestFixture, butterworthOrderTest) { double tol = 1e-4; diff --git a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp b/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp similarity index 92% rename from common/signal_processing/test/src/lowpass_filter_1d_test.cpp rename to common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp index 5cce36884588e..44e8a1ffce437 100644 --- a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp +++ b/common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "signal_processing/lowpass_filter_1d.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include constexpr double epsilon = 1e-6; +using autoware::signal_processing::LowpassFilter1d; + TEST(lowpass_filter_1d, filter) { LowpassFilter1d lowpass_filter_1d(0.1); diff --git a/common/signal_processing/test/src/lowpass_filter_test.cpp b/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp similarity index 95% rename from common/signal_processing/test/src/lowpass_filter_test.cpp rename to common/autoware_signal_processing/test/src/lowpass_filter_test.cpp index 8dfea4dcae02e..864378719dd5c 100644 --- a/common/signal_processing/test/src/lowpass_filter_test.cpp +++ b/common/autoware_signal_processing/test/src/lowpass_filter_test.cpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "signal_processing/lowpass_filter.hpp" +#include "autoware/signal_processing/lowpass_filter.hpp" #include constexpr double epsilon = 1e-6; +using autoware::signal_processing::LowpassFilterTwist; + geometry_msgs::msg::Twist createTwist( const double lx, const double ly, const double lz, const double ax, const double ay, const double az) diff --git a/common/signal_processing/usage_examples/main_butterworth.cpp b/common/autoware_signal_processing/usage_examples/main_butterworth.cpp similarity index 98% rename from common/signal_processing/usage_examples/main_butterworth.cpp rename to common/autoware_signal_processing/usage_examples/main_butterworth.cpp index 2b36bd40b3578..5de87af046879 100644 --- a/common/signal_processing/usage_examples/main_butterworth.cpp +++ b/common/autoware_signal_processing/usage_examples/main_butterworth.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "signal_processing/butterworth.hpp" +#include "autoware/signal_processing/butterworth.hpp" #include #include diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp index b359eb16387db..16e383916eb6d 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp +++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp @@ -19,9 +19,9 @@ #include "control_performance_analysis/msg/driving_monitor_stamped.hpp" #include "control_performance_analysis/msg/error_stamped.hpp" +#include #include #include -#include #include #include diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 878136d837678..a088b4a4a168e 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -27,6 +27,7 @@ autoware_control_msgs autoware_motion_utils autoware_planning_msgs + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs @@ -36,7 +37,6 @@ rclcpp rclcpp_components sensor_msgs - signal_processing std_msgs tf2 tf2_eigen diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index af8938fd74a9f..6a4e021858f7c 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -17,11 +17,11 @@ ament_cmake_auto autoware_cmake + autoware_signal_processing geometry_msgs nav_msgs rclcpp rclcpp_components - signal_processing tf2 tier4_debug_msgs diff --git a/localization/autoware_twist2accel/src/twist2accel.cpp b/localization/autoware_twist2accel/src/twist2accel.cpp index 2205a9d3a674e..0f904132f6cdc 100644 --- a/localization/autoware_twist2accel/src/twist2accel.cpp +++ b/localization/autoware_twist2accel/src/twist2accel.cpp @@ -22,6 +22,8 @@ #include #include +using autoware::signal_processing::LowpassFilter1d; + namespace autoware::twist2accel { using std::placeholders::_1; diff --git a/localization/autoware_twist2accel/src/twist2accel.hpp b/localization/autoware_twist2accel/src/twist2accel.hpp index 97060c080179b..d338b256fec77 100644 --- a/localization/autoware_twist2accel/src/twist2accel.hpp +++ b/localization/autoware_twist2accel/src/twist2accel.hpp @@ -15,7 +15,7 @@ #ifndef TWIST2ACCEL_HPP_ #define TWIST2ACCEL_HPP_ -#include "signal_processing/lowpass_filter_1d.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include @@ -37,6 +37,8 @@ #include #include +using autoware::signal_processing::LowpassFilter1d; + namespace autoware::twist2accel { class Twist2Accel : public rclcpp::Node diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp index e8f7e6e081e43..0b02fd59b322a 100644 --- a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp +++ b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp @@ -17,8 +17,8 @@ #include "yabloc_common/ground_server/filter/moving_averaging.hpp" +#include #include -#include #include #include @@ -38,6 +38,8 @@ #include +using autoware::signal_processing::LowpassFilter1d; + namespace yabloc::ground_server { class GroundServer : public rclcpp::Node diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index ee0ef087579f7..67fe462282981 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -18,6 +18,7 @@ autoware_lanelet2_extension autoware_map_msgs + autoware_signal_processing autoware_universe_utils cv_bridge geometry_msgs @@ -26,7 +27,6 @@ rclcpp rclcpp_components sensor_msgs - signal_processing sophus std_msgs tf2_ros diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp index 29bd91f5c5b72..35cbf31239272 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp @@ -19,10 +19,10 @@ #include "autoware/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp" #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp" #include "autoware/obstacle_cruise_planner/type_alias.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "autoware/universe_utils/ros/polling_subscriber.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" -#include "signal_processing/lowpass_filter_1d.hpp" #include #include diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp index c048c3278e2ec..d063d08d82d92 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp @@ -18,7 +18,7 @@ #include "autoware/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp" #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_controller.hpp" #include "autoware/obstacle_cruise_planner/planner_interface.hpp" -#include "signal_processing/lowpass_filter_1d.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include "visualization_msgs/msg/marker_array.hpp" @@ -26,6 +26,8 @@ #include #include +using autoware::signal_processing::LowpassFilter1d; + class PIDBasedPlanner : public PlannerInterface { public: diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 79335dc23221b..a781a20388106 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -23,6 +23,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_planning_test_manager + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils geometry_msgs @@ -32,7 +33,6 @@ osqp_interface rclcpp rclcpp_components - signal_processing std_msgs tf2 tf2_ros diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp index a021e87e6199e..74f2002a93420 100644 --- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp @@ -23,6 +23,8 @@ #include "tier4_planning_msgs/msg/velocity_limit.hpp" +using autoware::signal_processing::LowpassFilter1d; + namespace { VelocityLimit createVelocityLimitMsg( diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp index 0b9a9eaa9d58c..ba93efc1f10c4 100644 --- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp @@ -19,8 +19,8 @@ #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include "autoware/universe_utils/ros/marker_helper.hpp" -#include "signal_processing/lowpass_filter_1d.hpp" #include #include @@ -620,7 +620,7 @@ std::vector PlannerInterface::generateSlowDownTrajectory( // calculate slow down velocity const double stable_slow_down_vel = [&]() { if (prev_output) { - return signal_processing::lowpassFilter( + return autoware::signal_processing::lowpassFilter( feasible_slow_down_vel, prev_output->target_vel, slow_down_param_.lpf_gain_slow_down_vel); } return feasible_slow_down_vel; @@ -706,7 +706,7 @@ double PlannerInterface::calculateSlowDownVelocity( slow_down_param_.getObstacleParamByLabel(obstacle.classification, is_obstacle_moving); const double stable_precise_lat_dist = [&]() { if (prev_output) { - return signal_processing::lowpassFilter( + return autoware::signal_processing::lowpassFilter( obstacle.precise_lat_dist, prev_output->precise_lat_dist, slow_down_param_.lpf_gain_lat_dist); } @@ -785,7 +785,7 @@ PlannerInterface::calculateDistanceToSlowDownWithConstraints( autoware::motion_utils::findNearestSegmentIndex(traj_points, prev_point->position); const double prev_dist_to_slow_down = autoware::motion_utils::calcSignedArcLength(traj_points, 0, prev_point->position, seg_idx); - return signal_processing::lowpassFilter( + return autoware::signal_processing::lowpassFilter( dist_to_slow_down, prev_dist_to_slow_down, slow_down_param_.lpf_gain_dist_to_slow_down); } return dist_to_slow_down; diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 71eec208f7fdc..9e6a8a2dc5f43 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -25,6 +25,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_planning_test_manager + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils diagnostic_msgs @@ -34,7 +35,6 @@ rclcpp rclcpp_components sensor_msgs - signal_processing std_msgs tf2 tf2_eigen diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 5bf00292d061e..9308aab7642f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -22,6 +22,7 @@ autoware_motion_utils autoware_perception_msgs autoware_planning_msgs + autoware_signal_processing autoware_universe_utils autoware_vehicle_msgs geometry_msgs @@ -29,7 +30,6 @@ object_recognition_utils pluginlib rclcpp - signal_processing tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index d91b3fb9aa346..3fa3f04435e87 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -16,9 +16,9 @@ #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "autoware/behavior_path_planner_common/utils/utils.hpp" +#include "autoware/signal_processing/lowpass_filter_1d.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" -#include "signal_processing/lowpass_filter_1d.hpp" #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml index 981051a363029..1e52977611759 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml @@ -47,6 +47,7 @@ autoware_perception_msgs autoware_planning_msgs autoware_planning_test_manager + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs @@ -61,7 +62,6 @@ rclcpp rclcpp_components sensor_msgs - signal_processing tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml index 9ede8342856a6..d868025475444 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml @@ -23,6 +23,7 @@ autoware_planning_msgs autoware_planning_test_manager autoware_route_handler + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs @@ -32,7 +33,6 @@ rclcpp rclcpp_components sensor_msgs - signal_processing tf2 tf2_eigen tf2_geometry_msgs diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index f997b30da9ffa..328ac199aca1a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -29,6 +29,7 @@ autoware_perception_msgs autoware_route_handler autoware_rtc_interface + autoware_signal_processing autoware_universe_utils autoware_vehicle_info_utils geometry_msgs @@ -36,7 +37,6 @@ pluginlib rclcpp sensor_msgs - signal_processing tf2 tf2_eigen tf2_geometry_msgs