test(autoware_utils): port unit tests from autoware.universe

[storrrrrrrrm]

Description

add unit test based on new function and namespace name

How was this PR tested?

Notes for reviewers

None.

Effects on system behavior

None.

[github-actions]

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[esteve]

@storrrrrrrrm please avoid using shortened words, it wasn't until I read the code changes that I realized that "ut" meant "unit test". I've renamed this PR to follow our naming conventions, please update the description of this PR to be more explanatory.

[mitsudome-r]

Takagi-san has splitted some codes in autoware_utils into smaller packages. Is it possible to update your PR to place the tests in appropriate package?

[liuXinGangChina]

Takagi-san has splitted some codes in autoware_utils into smaller packages. Is it possible to update your PR to place the tests in appropriate package?

Morning mits san

We have been doing the unit test spliting since those spliting prs merged.
And we are about to finish all the unit spliting now

Best regards

心刚

[isamu-takagi]

Thank you, LGTM. I have confirmed that the added tests pass.

colcon test --event-handlers=console_cohesion+ --packages-select autoware_utils_geometry | grep OK

1: [       OK ] alt_geometry.area (0 ms)
1: [       OK ] alt_geometry.convexHull (0 ms)
1: [       OK ] alt_geometry.correct (0 ms)
1: [       OK ] alt_geometry.coveredBy (0 ms)
1: [       OK ] alt_geometry.disjoint (0 ms)
1: [       OK ] alt_geometry.distance (0 ms)
1: [       OK ] alt_geometry.intersects (0 ms)
1: [       OK ] alt_geometry.isAbove (0 ms)
1: [       OK ] alt_geometry.isClockwise (0 ms)
1: [       OK ] alt_geometry.touches (0 ms)
1: [       OK ] alt_geometry.within (0 ms)
1: [       OK ] alt_geometry.areaRand (4 ms)
1: [       OK ] alt_geometry.convexHullRand (6 ms)
1: [       OK ] alt_geometry.coveredByRand (255 ms)
1: [       OK ] alt_geometry.disjointRand (119 ms)
1: [       OK ] alt_geometry.intersectsRand (108 ms)
1: [       OK ] alt_geometry.touchesRand (250 ms)
1: [       OK ] alt_geometry.withinPolygonRand (221 ms)
1: [       OK ] geometry.envelope (0 ms)
1: [       OK ] geometry.simplify (0 ms)
1: [       OK ] geometry.get_point (0 ms)
1: [       OK ] geometry.get_pose (0 ms)
1: [       OK ] geometry.get_longitudinal_velocity (0 ms)
1: [       OK ] geometry.set_pose (0 ms)
1: [       OK ] geometry.set_orientation (0 ms)
1: [       OK ] geometry.set_longitudinal_velocity (0 ms)
1: [       OK ] geometry.create_point (0 ms)
1: [       OK ] geometry.create_quaternion (0 ms)
1: [       OK ] geometry.create_translation (0 ms)
1: [       OK ] geometry.create_quaternion_from_rpy (0 ms)
1: [       OK ] geometry.create_quaternion_from_yaw (0 ms)
1: [       OK ] geometry.calc_elevation_angle (0 ms)
1: [       OK ] geometry.calc_azimuth_angle (0 ms)
1: [       OK ] geometry.calc_distance2d (0 ms)
1: [       OK ] geometry.calc_squared_distance2d (0 ms)
1: [       OK ] geometry.calc_distance3d (0 ms)
1: [       OK ] geometry.get_rpy (0 ms)
1: [       OK ] geometry.get_rpy_wrapper (0 ms)
1: [       OK ] geometry.transform2pose (0 ms)
1: [       OK ] geometry.pose2transform (0 ms)
1: [       OK ] geometry.point_2_tf_vector (0 ms)
1: [       OK ] geometry.transform_point (0 ms)
1: [       OK ] geometry.transform_pose (0 ms)
1: [       OK ] geometry.inverse_transform_pose (0 ms)
1: [       OK ] geometry.inverse_transform_point (0 ms)
1: [       OK ] geometry.transform_vector (0 ms)
1: [       OK ] geometry.calc_curvature (0 ms)
1: [       OK ] geometry.calc_offset_pose (0 ms)
1: [       OK ] geometry.is_driving_forward (0 ms)
1: [       OK ] geometry.calc_interpolated_point (0 ms)
1: [       OK ] geometry.calc_interpolated_pose (0 ms)
1: [       OK ] geometry.calc_interpolated_pose_with_Spherical_Interpolation (0 ms)
1: [       OK ] geometry.getTwist (0 ms)
1: [       OK ] geometry.getTwistNorm (0 ms)
1: [       OK ] geometry.is_twist_covariance_valid (0 ms)
1: [       OK ] geometry.intersect (0 ms)
1: [       OK ] geometry.intersectPolygonRand (91 ms)
1: [       OK ] geometry.PolygonTriangulation (0 ms)
1: [       OK ] geometry.intersectPolygonWithHoles (0 ms)
1: [       OK ] geometry.intersectConcavePolygonRand (115 ms)
1: [       OK ] geometry.get_point_PathWithLaneId (0 ms)
1: [       OK ] geometry.get_pose_PathWithLaneId (0 ms)
1: [       OK ] geometry.get_longitudinal_velocity_PathWithLaneId (0 ms)
1: [       OK ] geometry.set_pose_PathWithLaneId (0 ms)
1: [       OK ] geometry.set_longitudinal_velocity_PathWithLaneId (0 ms)
1: [       OK ] geometry.pose_deviation (0 ms)
1: [       OK ] boost_geometry.boost_geometry_distance (0 ms)
1: [       OK ] boost_geometry.to_3d (0 ms)
1: [       OK ] boost_geometry.to_2d (0 ms)
1: [       OK ] boost_geometry.to_msg (0 ms)
1: [       OK ] boost_geometry.from_msg (0 ms)
1: [       OK ] boost_geometry.boost_is_clockwise (0 ms)
1: [       OK ] boost_geometry.boost_inverse_clockwise (0 ms)
1: [       OK ] boost_geometry.boost_rotate_polygon (0 ms)
1: [       OK ] boost_geometry.boost_to_polygon2d (0 ms)
1: [       OK ] boost_geometry.boost_to_footprint (0 ms)
1: [       OK ] boost_geometry.boost_get_area (0 ms)
1: [       OK ] boost_geometry.boost_expand_polygon (0 ms)

colcon test --event-handlers=console_cohesion+ --packages-select autoware_utils_pcl | grep OK

1: [       OK ] system.transform_point_cloud (0 ms)
1: [       OK ] system.empty_point_cloud (0 ms)

[liuXinGangChina]

Kondo san @youtalk

Although this is a unit test porting task， I hope you can help review when you have time

Thanks

心刚

[isamu-takagi]

@esteve Could you please review again and update the change request?

[esteve]

@storrrrrrrrm LGTM