Merge branch 'feat-apply-autoware-prefix-for-control-control-performa…

…nce-analysis' of github.com:sasakisasaki/autoware.universe into feat-apply-autoware-prefix-for-control-control-performance-analysis

Signed-off-by: Junya Sasaki <[email protected]>

control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_core.hpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
-#define AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
 
-#include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp"
+#include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
 #include "autoware_control_performance_analysis/msg/error_stamped.hpp"
 #include "autoware_control_performance_analysis/msg/float_stamped.hpp"
@@ -40,12 +40,12 @@
 namespace autoware::control::control_performance_analysis
 {
 using autoware_control_msgs::msg::Control;
-using autoware_planning_msgs::msg::Trajectory;
-using autoware_vehicle_msgs::msg::SteeringReport;
 using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
 using autoware_control_performance_analysis::msg::Error;
 using autoware_control_performance_analysis::msg::ErrorStamped;
 using autoware_control_performance_analysis::msg::FloatStamped;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_vehicle_msgs::msg::SteeringReport;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseArray;
 using geometry_msgs::msg::Twist;
@@ -131,4 +131,4 @@ class ControlPerformanceAnalysisCore
 };
 }  // namespace autoware::control::control_performance_analysis
 
-#endif  // AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_

control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
-#define AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
 
 #include "autoware/control_performance_analysis/control_performance_analysis_core.hpp"
 #include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
@@ -37,10 +37,10 @@
 namespace autoware::control::control_performance_analysis
 {
 using autoware_control_msgs::msg::Control;
-using autoware_planning_msgs::msg::Trajectory;
-using autoware_vehicle_msgs::msg::SteeringReport;
 using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
 using autoware_control_performance_analysis::msg::ErrorStamped;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_vehicle_msgs::msg::SteeringReport;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
 
@@ -94,4 +94,4 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
 };
 }  // namespace autoware::control::control_performance_analysis
 
-#endif  // AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_

control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_utils.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
-#define AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -86,4 +86,4 @@ double curvatureFromThreePoints(
 }  // namespace utils
 }  // namespace autoware::control::control_performance_analysis
 
-#endif  // AUTOWARE__CONTROL__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_UTILS_HPP_

control/autoware_control_performance_analysis/src/control_performance_analysis_core.cpp

@@ -32,7 +32,8 @@ using geometry_msgs::msg::Quaternion;
 ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore()
 {
   prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>();
-  prev_driving_vars_ = std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
+  prev_driving_vars_ =
+    std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
   odom_history_ptr_ = std::make_shared<std::vector<Odometry>>();
   p_.odom_interval_ = 0;
   p_.curvature_interval_length_ = 10.0;
@@ -47,7 +48,8 @@ ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore(Params & p) : p_{
 {
   // prepare control performance struct
   prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>();
-  prev_driving_vars_ = std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
+  prev_driving_vars_ =
+    std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
   odom_history_ptr_ = std::make_shared<std::vector<Odometry>>();
 }
 
@@ -251,7 +253,8 @@ bool ControlPerformanceAnalysisCore::calculateErrorVars()
     lpf(error.error_energy, prev_error.error_energy);
   }
 
-  prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>(error_vars);
+  prev_target_vars_ =
+    std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>(error_vars);
 
   return true;
 }
@@ -336,7 +339,9 @@ bool ControlPerformanceAnalysisCore::calculateDrivingVars()
         lpf(curr.desired_steering_angle.data, prev->desired_steering_angle.data);
       }
 
-      prev_driving_vars_ = std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>(driving_status_vars);
+      prev_driving_vars_ =
+        std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>(
+          driving_status_vars);
 
       last_odom_header.stamp = odom_history_ptr_->at(odom_size - 1).header.stamp;
       last_steering_report.stamp = current_vec_steering_msg_ptr_->stamp;

control/autoware_control_performance_analysis/src/control_performance_analysis_node.cpp

@@ -198,4 +198,5 @@ bool ControlPerformanceAnalysisNode::isValidTrajectory(const Trajectory & traj)
 }  // namespace autoware::control::control_performance_analysis
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware::control::control_performance_analysis::ControlPerformanceAnalysisNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::control::control_performance_analysis::ControlPerformanceAnalysisNode)