feat(autoware_utils_math): split package

autoware_utils/README.md

@@ -29,17 +29,6 @@ The geometry module provides classes and functions for handling 2D and 3D points
   - Intersection checks for convex polygons using GJK.
   - Conversion between different coordinate systems.
 
-#### Math Module
-
-The math module offers a variety of mathematical utilities:
-
-- **`accumulator.hpp`**: A class for accumulating statistical data, supporting min, max, and mean calculations.
-- **`constants.hpp`**: Defines commonly used mathematical constants like π and gravity.
-- **`normalization.hpp`**: Functions for normalizing angles and degrees.
-- **`range.hpp`**: Functions for generating sequences of numbers (arange, linspace).
-- **`trigonometry.hpp`**: Optimized trigonometric functions for faster computation.
-- **`unit_conversion.hpp`**: Functions for converting between different units (e.g., degrees to radians, km/h to m/s).
-
 #### ROS Module
 
 The ROS module provides utilities for working with ROS messages and nodes:
@@ -110,27 +99,6 @@ int main() {
 }
 ```
 
-#### Using Accumulator from accumulator.hpp
-
-```cpp
-#include "autoware_utils/math/accumulator.hpp"
-
-int main() {
-  autoware_utils::Accumulator<double> acc;
-
-  acc.add(1.0);
-  acc.add(2.0);
-  acc.add(3.0);
-
-  std::cout << "Mean: " << acc.mean() << "\n";
-  std::cout << "Min: " << acc.min() << "\n";
-  std::cout << "Max: " << acc.max() << "\n";
-  std::cout << "Count: " << acc.count() << "\n";
-
-  return 0;
-}
-```
-
 ### Detailed Usage Examples
 
 #### Update Parameters Dynamically with update_param.hpp

autoware_utils/include/autoware_utils/math/accumulator.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021-2024 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,81 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <iostream>
-#include <limits>
-
 #ifndef AUTOWARE_UTILS__MATH__ACCUMULATOR_HPP_
 #define AUTOWARE_UTILS__MATH__ACCUMULATOR_HPP_
 
+#include <autoware_utils_math/accumulator.hpp>
+
 namespace autoware_utils
 {
-/**
- * @brief class to accumulate statistical data, supporting min, max and mean.
- * @typedef T type of the values (default to double)
- */
-template <typename T = double>
-class Accumulator
-{
-public:
-  /**
-   * @brief add a value
-   * @param value value to add
-   */
-  void add(const T & value)
-  {
-    if (value < min_) {
-      min_ = value;
-    }
-    if (value > max_) {
-      max_ = value;
-    }
-    ++count_;
-    mean_ = mean_ + (value - mean_) / count_;
-  }
-
-  /**
-   * @brief get the mean value
-   */
-  long double mean() const { return mean_; }
-
-  /**
-   * @brief get the minimum value
-   */
-  T min() const { return min_; }
 
-  /**
-   * @brief get the maximum value
-   */
-  T max() const { return max_; }
-
-  /**
-   * @brief get the number of values used to build this statistic
-   */
-  unsigned int count() const { return count_; }
-
-  template <typename U>
-  friend std::ostream & operator<<(std::ostream & os, const Accumulator<U> & accumulator);
-
-private:
-  T min_ = std::numeric_limits<T>::max();
-  T max_ = std::numeric_limits<T>::lowest();
-  long double mean_ = 0.0;
-  unsigned int count_ = 0;
-};
-
-/**
- * @brief overload << operator for easy print to output stream
- */
-template <typename T>
-std::ostream & operator<<(std::ostream & os, const Accumulator<T> & accumulator)
-{
-  if (accumulator.count() == 0) {
-    os << "None None None";
-  } else {
-    os << accumulator.min() << " " << accumulator.max() << " " << accumulator.mean();
-  }
-  return os;
-}
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
 
 }  // namespace autoware_utils
 

autoware_utils/include/autoware_utils/math/constants.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,10 +15,13 @@
 #ifndef AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
 #define AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
 
+#include <autoware_utils_math/constants.hpp>
+
 namespace autoware_utils
 {
-constexpr double pi = 3.14159265358979323846;  // To be replaced by std::numbers::pi in C++20
-constexpr double gravity = 9.80665;
+
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
+
 }  // namespace autoware_utils
 
 #endif  // AUTOWARE_UTILS__MATH__CONSTANTS_HPP_

autoware_utils/include/autoware_utils/math/normalization.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,35 +15,12 @@
 #ifndef AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
 #define AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
 
-#include "autoware_utils/math/constants.hpp"
-
-#include <cmath>
+#include <autoware_utils_math/normalization.hpp>
 
 namespace autoware_utils
 {
-inline double normalize_degree(const double deg, const double min_deg = -180)
-{
-  const auto max_deg = min_deg + 360.0;
-
-  const auto value = std::fmod(deg, 360.0);
-  if (min_deg <= value && value < max_deg) {
-    return value;
-  }
-
-  return value - std::copysign(360.0, value);
-}
-
-inline double normalize_radian(const double rad, const double min_rad = -pi)
-{
-  const auto max_rad = min_rad + 2 * pi;
-
-  const auto value = std::fmod(rad, 2 * pi);
-  if (min_rad <= value && value < max_rad) {
-    return value;
-  }
 
-  return value - std::copysign(2 * pi, value);
-}
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
 
 }  // namespace autoware_utils
 

autoware_utils/include/autoware_utils/math/range.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,63 +15,12 @@
 #ifndef AUTOWARE_UTILS__MATH__RANGE_HPP_
 #define AUTOWARE_UTILS__MATH__RANGE_HPP_
 
-#include <cmath>
-#include <limits>
-#include <stdexcept>
-#include <vector>
+#include <autoware_utils_math/range.hpp>
 
 namespace autoware_utils
 {
-template <class T>
-std::vector<T> arange(const T start, const T stop, const T step = 1)
-{
-  if (step == 0) {
-    throw std::invalid_argument("step must be non-zero value.");
-  }
-
-  if (step > 0 && stop < start) {
-    throw std::invalid_argument("must be stop >= start for positive step.");
-  }
-
-  if (step < 0 && stop > start) {
-    throw std::invalid_argument("must be stop <= start for negative step.");
-  }
-
-  const double max_i_double = std::ceil(static_cast<double>(stop - start) / step);
-  const auto max_i = static_cast<size_t>(max_i_double);
-
-  std::vector<T> out;
-  out.reserve(max_i);
-  for (size_t i = 0; i < max_i; ++i) {
-    out.push_back(start + i * step);
-  }
-
-  return out;
-}
-
-template <class T>
-std::vector<double> linspace(const T start, const T stop, const size_t num)
-{
-  const auto start_double = static_cast<double>(start);
-  const auto stop_double = static_cast<double>(stop);
-
-  if (num == 0) {
-    return {};
-  }
-
-  if (num == 1) {
-    return {start_double};
-  }
-
-  std::vector<double> out;
-  out.reserve(num);
-  const double step = (stop_double - start_double) / static_cast<double>(num - 1);
-  for (size_t i = 0; i < num; i++) {
-    out.push_back(start_double + static_cast<double>(i) * step);
-  }
 
-  return out;
-}
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
 
 }  // namespace autoware_utils
 

autoware_utils/include/autoware_utils/math/sin_table.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,15 +15,12 @@
 #ifndef AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
 #define AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
 
-#include <cstddef>
+#include <autoware_utils_math/sin_table.hpp>
 
 namespace autoware_utils
 {
 
-constexpr size_t sin_table_size = 32769;
-constexpr size_t discrete_arcs_num_90 = 32768;
-constexpr size_t discrete_arcs_num_360 = 131072;
-extern const float g_sin_table[sin_table_size];
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
 
 }  // namespace autoware_utils
 

autoware_utils/include/autoware_utils/math/trigonometry.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,18 +15,12 @@
 #ifndef AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
 #define AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
 
-#include <utility>
+#include <autoware_utils_math/trigonometry.hpp>
 
 namespace autoware_utils
 {
 
-float sin(float radian);
-
-float cos(float radian);
-
-std::pair<float, float> sin_and_cos(float radian);
-
-float opencv_fast_atan2(float dy, float dx);
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
 
 }  // namespace autoware_utils
 

autoware_utils/include/autoware_utils/math/unit_conversion.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,29 +15,13 @@
 #ifndef AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_
 #define AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_
 
-#include "autoware_utils/math/constants.hpp"
+#include <autoware_utils_math/unit_conversion.hpp>
 
 namespace autoware_utils
 {
-constexpr double deg2rad(const double deg)
-{
-  return deg * pi / 180.0;
-}
 
-constexpr double rad2deg(const double rad)
-{
-  return rad * 180.0 / pi;
-}
+using namespace autoware_utils_math;  // NOLINT(build/namespaces)
 
-constexpr double kmph2mps(const double kmph)
-{
-  return kmph * 1000.0 / 3600.0;
-}
-
-constexpr double mps2kmph(const double mps)
-{
-  return mps * 3600.0 / 1000.0;
-}
 }  // namespace autoware_utils
 
 #endif  // AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_

autoware_utils/package.xml

@@ -20,6 +20,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils_geometry</depend>
+  <depend>autoware_utils_math</depend>
   <depend>autoware_utils_pcl</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>

autoware_utils_math/CMakeLists.txt

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_math)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  "src/sin_table.cpp"
+  "src/trigonometry.cpp"
+)
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+  ament_auto_add_gtest(test_${PROJECT_NAME} ${test_files})
+endif()
+
+ament_auto_package()