refactor(kalman_fiilter): prefix package and namespace with autoware

Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · Jul 2, 2024 · b894b4b · b894b4b
1 parent ce09907
commit b894b4b
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Showing 29 changed files with 59 additions and 34 deletions.
diff --git a/common/kalman_filter/CMakeLists.txt → common/autoware_kalman_filter/CMakeLists.txt b/common/kalman_filter/CMakeLists.txt → common/autoware_kalman_filter/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(kalman_filter)
+project(autoware_kalman_filter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -12,18 +12,18 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(kalman_filter SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/kalman_filter.cpp
   src/time_delay_kalman_filter.cpp
-  include/kalman_filter/kalman_filter.hpp
-  include/kalman_filter/time_delay_kalman_filter.hpp
+  include/${PROJECT_NAME}/kalman_filter.hpp
+  include/${PROJECT_NAME}/time_delay_kalman_filter.hpp
 )
 
 if(BUILD_TESTING)
   file(GLOB_RECURSE test_files test/*.cpp)
-  ament_add_ros_isolated_gtest(test_kalman_filter ${test_files})
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
 
-  target_link_libraries(test_kalman_filter kalman_filter)
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
 endif()
 
 ament_auto_package()
diff --git a/common/kalman_filter/README.md → common/autoware_kalman_filter/README.md b/common/kalman_filter/README.md → common/autoware_kalman_filter/README.md
diff --git a/...r/include/kalman_filter/kalman_filter.hpp → .../autoware_kalman_filter/kalman_filter.hpp b/...r/include/kalman_filter/kalman_filter.hpp → .../autoware_kalman_filter/kalman_filter.hpp
@@ -18,6 +18,9 @@
 #include <Eigen/Core>
 #include <Eigen/LU>
 
+namespace autoware::kalman_filter
+{
+
 /**
  * @file kalman_filter.h
  * @brief kalman filter class
@@ -207,4 +210,5 @@ class KalmanFilter
   Eigen::MatrixXd R_;  //!< @brief covariance matrix for measurement model y[k] = C * x[k]
   Eigen::MatrixXd P_;  //!< @brief covariance of estimated state
 };
+}  // namespace autoware::kalman_filter
 #endif  // KALMAN_FILTER__KALMAN_FILTER_HPP_
diff --git a/...alman_filter/time_delay_kalman_filter.hpp → ...alman_filter/time_delay_kalman_filter.hpp b/...alman_filter/time_delay_kalman_filter.hpp → ...alman_filter/time_delay_kalman_filter.hpp
@@ -15,13 +15,15 @@
 #ifndef KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
 #define KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
 
 #include <iostream>
 
+namespace autoware::kalman_filter
+{
 /**
  * @file time_delay_kalman_filter.h
  * @brief kalman filter with delayed measurement class
@@ -83,4 +85,5 @@ class TimeDelayKalmanFilter : public KalmanFilter
   int dim_x_;           //!< @brief dimension of latest state
   int dim_x_ex_;        //!< @brief dimension of extended state with dime delay
 };
+}  // namespace autoware::kalman_filter
 #endif  // KALMAN_FILTER__TIME_DELAY_KALMAN_FILTER_HPP_
diff --git a/common/kalman_filter/package.xml → common/autoware_kalman_filter/package.xml b/common/kalman_filter/package.xml → common/autoware_kalman_filter/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>kalman_filter</name>
+  <name>autoware_kalman_filter</name>
   <version>0.1.0</version>
   <description>The kalman filter package</description>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>

diff --git a/common/kalman_filter/src/kalman_filter.cpp → ...oware_kalman_filter/src/kalman_filter.cpp b/common/kalman_filter/src/kalman_filter.cpp → ...oware_kalman_filter/src/kalman_filter.cpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 
+namespace autoware::kalman_filter
+{
 KalmanFilter::KalmanFilter()
 {
 }
@@ -156,3 +158,4 @@ bool KalmanFilter::update(const Eigen::MatrixXd & y)
 {
   return update(y, C_, R_);
 }
+}  // namespace autoware::kalman_filter
diff --git a/...n_filter/src/time_delay_kalman_filter.cpp → ...n_filter/src/time_delay_kalman_filter.cpp b/...n_filter/src/time_delay_kalman_filter.cpp → ...n_filter/src/time_delay_kalman_filter.cpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kalman_filter/time_delay_kalman_filter.hpp"
+#include "autoware_kalman_filter/time_delay_kalman_filter.hpp"
 
+namespace autoware::kalman_filter
+{
 TimeDelayKalmanFilter::TimeDelayKalmanFilter()
 {
 }
@@ -102,3 +104,4 @@ bool TimeDelayKalmanFilter::updateWithDelay(
 
   return true;
 }
+}  // namespace autoware::kalman_filter
diff --git a/...kalman_filter/test/test_kalman_filter.cpp → ...kalman_filter/test/test_kalman_filter.cpp b/...kalman_filter/test/test_kalman_filter.cpp → ...kalman_filter/test/test_kalman_filter.cpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 
 #include <gtest/gtest.h>
 
+using autoware::kalman_filter::KalmanFilter;
+
 TEST(kalman_filter, kf)
 {
   KalmanFilter kf_;

diff --git a/...er/test/test_time_delay_kalman_filter.cpp → ...er/test/test_time_delay_kalman_filter.cpp b/...er/test/test_time_delay_kalman_filter.cpp → ...er/test/test_time_delay_kalman_filter.cpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kalman_filter/time_delay_kalman_filter.hpp"
+#include "autoware_kalman_filter/time_delay_kalman_filter.hpp"
 
 #include <gtest/gtest.h>
 
+using autoware::kalman_filter::TimeDelayKalmanFilter;
+
 TEST(time_delay_kalman_filter, td_kf)
 {
   TimeDelayKalmanFilter td_kf_;

diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp
@@ -19,8 +19,8 @@
 #include "ekf_localizer/state_index.hpp"
 #include "ekf_localizer/warning.hpp"
 
-#include <kalman_filter/kalman_filter.hpp>
-#include <kalman_filter/time_delay_kalman_filter.hpp>
+#include <autoware_kalman_filter/kalman_filter.hpp>
+#include <autoware_kalman_filter/time_delay_kalman_filter.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -32,6 +32,8 @@
 #include <memory>
 #include <vector>
 
+using autoware::kalman_filter::TimeDelayKalmanFilter;
+
 struct EKFDiagnosticInfo
 {
   size_t no_update_count{0};

diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
@@ -27,7 +27,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
-  <depend>kalman_filter</depend>
+  <depend>autoware_kalman_filter</depend>
   <depend>localization_util</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>

diff --git a/perception/bytetrack/lib/include/strack.h b/perception/bytetrack/lib/include/strack.h
@@ -38,8 +38,7 @@
 
 #pragma once
 
-// #include "kalman_filter.h"
-#include <kalman_filter/kalman_filter.hpp>
+#include <autoware_kalman_filter/kalman_filter.hpp>
 #include <opencv2/opencv.hpp>
 
 #include <boost/uuid/uuid.hpp>
@@ -49,6 +48,8 @@
 
 enum TrackState { New = 0, Tracked, Lost, Removed };
 
+using autoware::kalman_filter::KalmanFilter;
+
 /** manage one tracklet*/
 class STrack
 {

diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml
@@ -20,7 +20,7 @@
   <depend>cv_bridge</depend>
   <depend>eigen</depend>
   <depend>image_transport</depend>
-  <depend>kalman_filter</depend>
+  <depend>autoware_kalman_filter</depend>
   <depend>libboost-system-dev</depend>
   <depend>libopencv-dev</depend>
   <depend>rclcpp</depend>

diff --git a/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
 #include "multi_object_tracker/tracker/object_model/object_model.hpp"

diff --git a/...n/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/...n/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
 #include "multi_object_tracker/tracker/object_model/object_model.hpp"

diff --git a/...ti_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/...ti_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
 #include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"

diff --git a/...ulti_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/...ulti_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
 #include "multi_object_tracker/tracker/object_model/object_model.hpp"

diff --git a/.../multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/.../multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "tracker_base.hpp"
 
 class PassThroughTracker : public Tracker

diff --git a/...ect_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/...ect_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/bicycle_tracker.hpp"
 #include "multi_object_tracker/tracker/model/pedestrian_tracker.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"

diff --git a/...on/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/...on/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp"
 #include "multi_object_tracker/tracker/object_model/object_model.hpp"

diff --git a/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp b/...ption/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "multi_object_tracker/tracker/motion_model/cv_motion_model.hpp"
 

diff --git a/...object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp b/...object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 
 #include <Eigen/Core>

diff --git a/...ti_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp b/...ti_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 
 #include <Eigen/Core>

diff --git a/...ulti_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp b/...ulti_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 #include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 
 #include <Eigen/Core>

diff --git a/...ti_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp b/...ti_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp
@@ -19,7 +19,7 @@
 #ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
 #define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
 
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.hpp>
@@ -31,6 +31,8 @@
 #endif
 #include <geometry_msgs/msg/twist.hpp>
 
+using autoware::kalman_filter::KalmanFilter;
+
 class MotionModel
 {
 private:

diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml
@@ -18,7 +18,7 @@
   <depend>diagnostic_updater</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
-  <depend>kalman_filter</depend>
+  <depend>autoware_kalman_filter</depend>
   <depend>mussp</depend>
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>

diff --git a/...include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp b/...include/autoware_radar_object_tracker/tracker/model/constant_turn_rate_motion_tracker.hpp
@@ -16,12 +16,13 @@
 #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
 
 #include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 
 #include <string>
 namespace autoware::radar_object_tracker
 {
 using Label = autoware_perception_msgs::msg::ObjectClassification;
+using autoware::kalman_filter::KalmanFilter;
 class ConstantTurnRateMotionTracker : public Tracker  // means constant turn rate motion tracker
 {
 private:

diff --git a/...ect_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp b/...ect_tracker/include/autoware_radar_object_tracker/tracker/model/linear_motion_tracker.hpp
@@ -16,14 +16,16 @@
 #define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
 
 #include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
-#include "kalman_filter/kalman_filter.hpp"
+#include "autoware_kalman_filter/kalman_filter.hpp"
 
 #include <string>
 
 namespace autoware::radar_object_tracker
 {
 
 using Label = autoware_perception_msgs::msg::ObjectClassification;
+using autoware::kalman_filter::KalmanFilter;
+
 class LinearMotionTracker : public Tracker
 {
 private:

diff --git a/perception/radar_object_tracker/package.xml b/perception/radar_object_tracker/package.xml
@@ -19,7 +19,7 @@
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
-  <depend>kalman_filter</depend>
+  <depend>autoware_kalman_filter</depend>
   <depend>mussp</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>object_recognition_utils</depend>