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feat: apply splitting of autoware_utils_geometry #10270

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merged 7 commits into from
Mar 18, 2025
Merged

feat: apply splitting of autoware_utils_geometry #10270

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033069d
WIP
isamu-takagi Feb 22, 2025
c4b7766
Merge branch 'main' into feat/autoware-utils-update
isamu-takagi Feb 25, 2025
ac41754
fix build error
isamu-takagi Feb 25, 2025
59c061e
Merge branch 'main' into feat/autoware-utils-update
isamu-takagi Mar 11, 2025
f6d75eb
Merge branch 'main' into feat/autoware-utils-update
isamu-takagi Mar 13, 2025
a179955
merge namespace
isamu-takagi Mar 13, 2025
465dd03
Merge branch 'main' into feat/autoware-utils-update
isamu-takagi Mar 18, 2025
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9 changes: 7 additions & 2 deletions planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,14 +36,19 @@
#include <string>
#include <vector>

namespace autoware_utils
namespace autoware_utils_geometry
{

template <>
geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p);

template <>
geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p);
} // namespace autoware_utils

template <>
double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p);

} // namespace autoware_utils_geometry

namespace autoware::path_optimizer
{
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21 changes: 2 additions & 19 deletions planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp
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Expand Up @@ -21,6 +21,7 @@
#include "autoware/motion_utils/trajectory/trajectory.hpp"
#include "autoware/path_optimizer/common_structs.hpp"
#include "autoware/path_optimizer/type_alias.hpp"
#include "autoware/path_optimizer/utils/geometry_utils.hpp"
#include "autoware_utils/geometry/geometry.hpp"

#include <Eigen/Core>
Expand All @@ -36,18 +37,6 @@
#include <string>
#include <vector>

namespace autoware_utils
{
template <>
geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p);

template <>
geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p);

template <>
double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p);
} // namespace autoware_utils

namespace autoware::path_optimizer
{
namespace trajectory_utils
Expand Down Expand Up @@ -107,13 +96,7 @@ TrajectoryPoint convertToTrajectoryPoint(const T & point)
}

template <>
inline TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point)
{
TrajectoryPoint traj_point;
traj_point.pose = autoware_utils::get_pose(ref_point);
traj_point.longitudinal_velocity_mps = autoware_utils::get_longitudinal_velocity(ref_point);
return traj_point;
}
TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point);

template <typename T>
std::vector<TrajectoryPoint> convertToTrajectoryPoints(const std::vector<T> & points)
Expand Down
23 changes: 23 additions & 0 deletions planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2023 TIER IV, Inc.

Check warning on line 1 in planning/autoware_path_optimizer/src/utils/geometry_utils.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Overall Code Complexity 

This module has a mean cyclomatic complexity of 4.29 across 7 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -36,6 +36,29 @@
#include <stack>
#include <vector>

namespace autoware_utils_geometry
{

template <>
geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p)
{
return p.pose.position;
}

template <>
geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p)
{
return p.pose;
}

template <>
double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p)
{
return p.longitudinal_velocity_mps;
}

} // namespace autoware_utils_geometry

namespace autoware::path_optimizer
{
namespace bg = boost::geometry;
Expand Down
24 changes: 7 additions & 17 deletions planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,31 +33,21 @@
#include <stack>
#include <vector>

namespace autoware_utils
{
template <>
geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p)
namespace autoware::path_optimizer
{
return p.pose.position;
}

template <>
geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p)
namespace trajectory_utils
{
return p.pose;
}

template <>
double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p)
TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point)
{
return p.longitudinal_velocity_mps;
TrajectoryPoint traj_point;
traj_point.pose = autoware_utils::get_pose(ref_point);
traj_point.longitudinal_velocity_mps = autoware_utils::get_longitudinal_velocity(ref_point);
return traj_point;
}
} // namespace autoware_utils

namespace autoware::path_optimizer
{
namespace trajectory_utils
{
ReferencePoint convertToReferencePoint(const TrajectoryPoint & traj_point)
{
ReferencePoint ref_point;
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4 changes: 2 additions & 2 deletions ...er/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
#include <utility>
#include <vector>

namespace autoware_utils
namespace autoware_utils_geometry
{

template <>
Expand All @@ -52,7 +52,7 @@ inline geometry_msgs::msg::Point get_point(const lanelet::ConstPoint3d & p)
return point;
}

} // namespace autoware_utils
} // namespace autoware_utils_geometry

namespace
{
Expand Down
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