chore(planning): move package directory for planning factor interface (…

…#9948) * chore: add new package for planning factor interface Signed-off-by: satoshi-ota <[email protected]> * chore(surround_obstacle_checker): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(obstacle_stop_planner): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(obstacle_cruise_planner): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(motion_velocity_planner): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(bpp): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(bvp-common): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(blind_spot): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(crosswalk): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(detection_area): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(intersection): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(no_drivable_area): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(no_stopping_area): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(occlusion_spot): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(run_out): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(speed_bump): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(stop_line): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(template_module): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(traffic_light): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(vtl): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(walkway): update include file Signed-off-by: satoshi-ota <[email protected]> * chore(motion_utils): remove factor interface Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Jan 17, 2025 · aa95f2a · aa95f2a
1 parent 2a6663b
commit aa95f2a
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Showing 62 changed files with 170 additions and 281 deletions.
diff --git a/.../autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp b/.../autoware_motion_utils/include/autoware/motion_utils/factor/steering_factor_interface.hpp
diff --git a/.../autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp b/.../autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp
diff --git a/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp b/common/autoware_motion_utils/src/factor/steering_factor_interface.cpp
diff --git a/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp b/common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp
diff --git a/...re_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/...re_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp
@@ -15,12 +15,12 @@
 #ifndef AUTOWARE__OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
 #define AUTOWARE__OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
 
-#include "autoware/motion_utils/factor/planning_factor_interface.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/obstacle_cruise_planner/common_structs.hpp"
 #include "autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp"
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
 #include "autoware/obstacle_cruise_planner/utils.hpp"
+#include "autoware/planning_factor_interface/planning_factor_interface.hpp"
 #include "autoware/universe_utils/ros/update_param.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
 
@@ -48,7 +48,8 @@ class PlannerInterface
     rclcpp::Node & node, const LongitudinalInfo & longitudinal_info,
     const autoware::vehicle_info_utils::VehicleInfo & vehicle_info,
     const EgoNearestParam & ego_nearest_param, const std::shared_ptr<DebugData> debug_data_ptr)
-  : planning_factor_interface_{std::make_unique<autoware::motion_utils::PlanningFactorInterface>(
+  : planning_factor_interface_{std::make_unique<
+      autoware::planning_factor_interface::PlanningFactorInterface>(
       &node, "obstacle_cruise_planner")},
     longitudinal_info_(longitudinal_info),
     vehicle_info_(vehicle_info),
@@ -130,7 +131,8 @@ class PlannerInterface
   double getSafeDistanceMargin() const { return longitudinal_info_.safe_distance_margin; }
 
 protected:
-  std::unique_ptr<autoware::motion_utils::PlanningFactorInterface> planning_factor_interface_;
+  std::unique_ptr<autoware::planning_factor_interface::PlanningFactorInterface>
+    planning_factor_interface_;
 
   // Parameters
   bool enable_debug_info_{false};

diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -25,6 +25,7 @@
   <depend>autoware_objects_of_interest_marker_interface</depend>
   <depend>autoware_osqp_interface</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_factor_interface</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_signal_processing</depend>

diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_factor_interface</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_signal_processing</depend>

diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp
@@ -47,8 +47,9 @@ ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode(
   rclcpp::Node * node, const double base_link2front)
 : node_(node),
   base_link2front_(base_link2front),
-  planning_factor_interface_{std::make_unique<autoware::motion_utils::PlanningFactorInterface>(
-    node, "obstacle_stop_planner")}
+  planning_factor_interface_{
+    std::make_unique<autoware::planning_factor_interface::PlanningFactorInterface>(
+      node, "obstacle_stop_planner")}
 {
   virtual_wall_pub_ = node_->create_publisher<MarkerArray>("~/virtual_wall", 1);
   debug_viz_pub_ = node_->create_publisher<MarkerArray>("~/debug/marker", 1);

diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp
@@ -14,7 +14,7 @@
 #ifndef DEBUG_MARKER_HPP_
 #define DEBUG_MARKER_HPP_
 
-#include <autoware/motion_utils/factor/planning_factor_interface.hpp>
+#include <autoware/planning_factor_interface/planning_factor_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/point.hpp>
@@ -119,7 +119,8 @@ class ObstacleStopPlannerDebugNode
   rclcpp::Node * node_;
   double base_link2front_;
 
-  std::unique_ptr<autoware::motion_utils::PlanningFactorInterface> planning_factor_interface_;
+  std::unique_ptr<autoware::planning_factor_interface::PlanningFactorInterface>
+    planning_factor_interface_;
 
   std::shared_ptr<Pose> stop_pose_ptr_;
   std::shared_ptr<Pose> target_stop_pose_ptr_;

diff --git a/planning/autoware_planning_factor_interface/CMakeLists.txt b/planning/autoware_planning_factor_interface/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_planning_factor_interface)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(autoware_planning_factor_interface SHARED
+  DIRECTORY src
+)
+
+ament_auto_package()
diff --git a/planning/autoware_planning_factor_interface/README.md b/planning/autoware_planning_factor_interface/README.md
@@ -0,0 +1 @@
+# planning factor interface
diff --git a/...tils/factor/planning_factor_interface.hpp → ...r_interface/planning_factor_interface.hpp b/...tils/factor/planning_factor_interface.hpp → ...r_interface/planning_factor_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__MOTION_UTILS__FACTOR__PLANNING_FACTOR_INTERFACE_HPP_
-#define AUTOWARE__MOTION_UTILS__FACTOR__PLANNING_FACTOR_INTERFACE_HPP_
+#ifndef AUTOWARE__PLANNING_FACTOR_INTERFACE__PLANNING_FACTOR_INTERFACE_HPP_
+#define AUTOWARE__PLANNING_FACTOR_INTERFACE__PLANNING_FACTOR_INTERFACE_HPP_
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -30,7 +30,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::motion_utils
+namespace autoware::planning_factor_interface
 {
 
 using geometry_msgs::msg::Pose;
@@ -235,6 +235,6 @@ extern template void PlanningFactorInterface::add<autoware_planning_msgs::msg::T
   const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,
   const double, const std::string &);
 
-}  // namespace autoware::motion_utils
+}  // namespace autoware::planning_factor_interface
 
-#endif  // AUTOWARE__MOTION_UTILS__FACTOR__PLANNING_FACTOR_INTERFACE_HPP_
+#endif  // AUTOWARE__PLANNING_FACTOR_INTERFACE__PLANNING_FACTOR_INTERFACE_HPP_
diff --git a/planning/autoware_planning_factor_interface/package.xml b/planning/autoware_planning_factor_interface/package.xml
@@ -0,0 +1,29 @@
+<?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>autoware_planning_factor_interface</name>
+  <version>0.40.0</version>
+  <description>The autoware_planning_factor_interface package</description>
+  <maintainer email="[email protected]">Satoshi Ota</maintainer>
+  <maintainer email="[email protected]">Mamoru Sobue</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="[email protected]">Satoshi Ota</author>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_motion_utils</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
+  <depend>rclcpp</depend>
+  <depend>tier4_planning_msgs</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/...s/src/factor/planing_factor_interface.cpp → ...nterface/src/planing_factor_interface.cpp b/...s/src/factor/planing_factor_interface.cpp → ...nterface/src/planing_factor_interface.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <autoware/motion_utils/factor/planning_factor_interface.hpp>
+#include <autoware/planning_factor_interface/planning_factor_interface.hpp>
 
 #include <string>
 #include <vector>
 
-namespace autoware::motion_utils
+namespace autoware::planning_factor_interface
 {
 template void PlanningFactorInterface::add<tier4_planning_msgs::msg::PathPointWithLaneId>(
   const std::vector<tier4_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
@@ -44,4 +44,4 @@ template void PlanningFactorInterface::add<autoware_planning_msgs::msg::Trajecto
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> &, const Pose &, const Pose &,
   const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,
   const double, const std::string &);
-}  // namespace autoware::motion_utils
+}  // namespace autoware::planning_factor_interface
diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml
@@ -16,6 +16,7 @@
 
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_factor_interface</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_universe_utils</depend>

diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp
@@ -67,7 +67,8 @@ SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode(
   const double & surround_check_back_distance, const double & surround_check_hysteresis_distance,
   const geometry_msgs::msg::Pose & self_pose, const rclcpp::Clock::SharedPtr clock,
   rclcpp::Node & node)
-: planning_factor_interface_{std::make_unique<autoware::motion_utils::PlanningFactorInterface>(
+: planning_factor_interface_{std::make_unique<
+    autoware::planning_factor_interface::PlanningFactorInterface>(
     &node, "surround_obstacle_checker")},
   vehicle_info_(vehicle_info),
   object_label_(object_label),