refactor(signal_processing): prefix package and namespace with autoware

Signed-off-by: Esteve Fernandez <[email protected]>

.github/CODEOWNERS

@@ -10,6 +10,7 @@ common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodr
 common/autoware_path_distance_calculator/** [email protected]
 common/autoware_perception_rviz_plugin/** [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_point_types/** [email protected] [email protected]
+common/autoware_signal_processing/** [email protected] [email protected] [email protected] [email protected] [email protected]
 common/autoware_test_utils/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_testing/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_universe_utils/** [email protected] [email protected] [email protected]
@@ -27,7 +28,6 @@ common/object_recognition_utils/** [email protected] takayuki.murooka@tier
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]
-common/signal_processing/** [email protected] [email protected] [email protected] [email protected] [email protected]
 common/tensorrt_common/** [email protected] [email protected]
 common/tier4_adapi_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_api_utils/** [email protected]

common/signal_processing/CMakeLists.txt → common/autoware_signal_processing/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(signal_processing)
+project(autoware_signal_processing)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

common/signal_processing/include/signal_processing/butterworth.hpp → common/autoware_signal_processing/include/autoware/signal_processing/butterworth.hpp

@@ -12,15 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIGNAL_PROCESSING__BUTTERWORTH_HPP_
-#define SIGNAL_PROCESSING__BUTTERWORTH_HPP_
+#ifndef AUTOWARE__SIGNAL_PROCESSING__BUTTERWORTH_HPP_
+#define AUTOWARE__SIGNAL_PROCESSING__BUTTERWORTH_HPP_
 
 #include <cmath>
 #include <complex>
 #include <iomanip>
 #include <iostream>
 #include <vector>
 
+namespace autoware::signal_processing
+{
+
 template <typename T>
 const T & append_separator(const T & arg)
 {
@@ -133,5 +136,6 @@ class ButterworthFilter
   // Computes continuous time roots from the phase angles
   void computeContinuousTimeRoots(bool const & use_sampling_frequency = false);
 };
+}  // namespace autoware::signal_processing
 
-#endif  // SIGNAL_PROCESSING__BUTTERWORTH_HPP_
+#endif  // AUTOWARE__SIGNAL_PROCESSING__BUTTERWORTH_HPP_

common/signal_processing/include/signal_processing/lowpass_filter.hpp → common/autoware_signal_processing/include/autoware/signal_processing/lowpass_filter.hpp

@@ -12,13 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_
-#define SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_
+#ifndef AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_
+#define AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_
 
-#include "signal_processing/lowpass_filter_1d.hpp"
+#include "autoware/signal_processing/lowpass_filter_1d.hpp"
 
 #include "geometry_msgs/msg/twist.hpp"
 
+namespace autoware::signal_processing
+{
 /**
  * @class First-order low-pass filter
  * @brief filtering values
@@ -51,5 +53,6 @@ class LowpassFilterTwist : public LowpassFilterInterface<geometry_msgs::msg::Twi
 
   geometry_msgs::msg::Twist filter(const geometry_msgs::msg::Twist & u) override;
 };
+}  // namespace autoware::signal_processing
 
-#endif  // SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_
+#endif  // AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_HPP_

common/signal_processing/include/signal_processing/lowpass_filter_1d.hpp → common/autoware_signal_processing/include/autoware/signal_processing/lowpass_filter_1d.hpp

@@ -12,15 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
-#define SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
+#ifndef AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
+#define AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
 
 #include <boost/optional.hpp>
 
-namespace signal_processing
+namespace autoware::signal_processing
 {
 double lowpassFilter(const double current_val, const double prev_val, const double gain);
-}
 
 /**
  * @class First-order low-pass filter
@@ -43,5 +42,6 @@ class LowpassFilter1d
   boost::optional<double> getValue() const;
   double filter(const double u);
 };
+}  // namespace autoware::signal_processing
 
-#endif  // SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_
+#endif  // AUTOWARE__SIGNAL_PROCESSING__LOWPASS_FILTER_1D_HPP_

common/signal_processing/package.xml → common/autoware_signal_processing/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>signal_processing</name>
+  <name>autoware_signal_processing</name>
   <version>0.1.0</version>
   <description>The signal processing package</description>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>

common/signal_processing/src/butterworth.cpp → common/autoware_signal_processing/src/butterworth.cpp

@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "signal_processing/butterworth.hpp"
+#include "autoware/signal_processing/butterworth.hpp"
 
 #include <rclcpp/logging.hpp>
 
 #include <iomanip>
 #include <numeric>
 #include <sstream>
 
+namespace autoware::signal_processing
+{
 /**
  *  @brief Computes the minimum of an analog Butterworth filter order and cut-off frequency give
  *  the pass and stop-band frequencies and ripple magnitude (tolerances).
@@ -341,3 +343,4 @@ void ButterworthFilter::printFilterSpecs() const
     rclcpp::get_logger("rclcpp"), "Cut-off Frequency : %2.2f rad/sec",
     this->filter_specs_.Wc_rad_sec);
 }
+}  // namespace autoware::signal_processing

common/signal_processing/src/lowpass_filter.cpp → common/autoware_signal_processing/src/lowpass_filter.cpp

@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "signal_processing/lowpass_filter.hpp"
+#include "autoware/signal_processing/lowpass_filter.hpp"
 
+namespace autoware::signal_processing
+{
 geometry_msgs::msg::Twist LowpassFilterTwist::filter(const geometry_msgs::msg::Twist & u)
 {
   if (x_) {
@@ -31,3 +33,4 @@ geometry_msgs::msg::Twist LowpassFilterTwist::filter(const geometry_msgs::msg::T
   x_ = u;
   return x_.get();
 }
+}  // namespace autoware::signal_processing

common/signal_processing/src/lowpass_filter_1d.cpp → common/autoware_signal_processing/src/lowpass_filter_1d.cpp

@@ -12,15 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "signal_processing/lowpass_filter_1d.hpp"
+#include "autoware/signal_processing/lowpass_filter_1d.hpp"
 
-namespace signal_processing
+namespace autoware::signal_processing
 {
 double lowpassFilter(const double current_val, const double prev_val, const double gain)
 {
   return gain * prev_val + (1.0 - gain) * current_val;
 }
-}  // namespace signal_processing
 
 LowpassFilter1d::LowpassFilter1d(const double gain) : gain_(gain)
 {
@@ -57,3 +56,4 @@ double LowpassFilter1d::filter(const double u)
   x_ = u;
   return x_.get();
 }
+}  // namespace autoware::signal_processing

common/signal_processing/test/include/butterworth_filter_test.hpp → common/autoware_signal_processing/test/include/butterworth_filter_test.hpp

@@ -15,9 +15,9 @@
 #ifndef BUTTERWORTH_FILTER_TEST_HPP_
 #define BUTTERWORTH_FILTER_TEST_HPP_
 
+#include "autoware/signal_processing/butterworth.hpp"
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
-#include "signal_processing/butterworth.hpp"
 
 class ButterWorthTestFixture : public ::testing::Test
 {

common/signal_processing/test/src/butterworth_filter_test.cpp → common/autoware_signal_processing/test/src/butterworth_filter_test.cpp

@@ -14,6 +14,8 @@
 
 #include "butterworth_filter_test.hpp"
 
+using autoware::signal_processing::ButterworthFilter;
+
 TEST_F(ButterWorthTestFixture, butterworthOrderTest)
 {
   double tol = 1e-4;

common/signal_processing/test/src/lowpass_filter_1d_test.cpp → common/autoware_signal_processing/test/src/lowpass_filter_1d_test.cpp

@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "signal_processing/lowpass_filter_1d.hpp"
+#include "autoware/signal_processing/lowpass_filter_1d.hpp"
 
 #include <gtest/gtest.h>
 
 constexpr double epsilon = 1e-6;
 
+using autoware::signal_processing::LowpassFilter1d;
+
 TEST(lowpass_filter_1d, filter)
 {
   LowpassFilter1d lowpass_filter_1d(0.1);

common/signal_processing/test/src/lowpass_filter_test.cpp → common/autoware_signal_processing/test/src/lowpass_filter_test.cpp

@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "signal_processing/lowpass_filter.hpp"
+#include "autoware/signal_processing/lowpass_filter.hpp"
 
 #include <gtest/gtest.h>
 
 constexpr double epsilon = 1e-6;
 
+using autoware::signal_processing::LowpassFilterTwist;
+
 geometry_msgs::msg::Twist createTwist(
   const double lx, const double ly, const double lz, const double ax, const double ay,
   const double az)

common/signal_processing/usage_examples/main_butterworth.cpp → common/autoware_signal_processing/usage_examples/main_butterworth.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "signal_processing/butterworth.hpp"
+#include "autoware/signal_processing/butterworth.hpp"
 
 #include <iostream>
 #include <vector>

control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp

@@ -19,9 +19,9 @@
 #include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
 #include "control_performance_analysis/msg/error_stamped.hpp"
 
+#include <autoware/signal_processing/lowpass_filter_1d.hpp>
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <signal_processing/lowpass_filter_1d.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>

control/control_performance_analysis/package.xml

@@ -27,6 +27,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_signal_processing</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
@@ -36,7 +37,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>signal_processing</depend>
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>

localization/autoware_twist2accel/package.xml

@@ -17,11 +17,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_signal_processing</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>signal_processing</depend>
   <depend>tf2</depend>
   <depend>tier4_debug_msgs</depend>
 

localization/autoware_twist2accel/src/twist2accel.cpp

@@ -22,6 +22,8 @@
 #include <string>
 #include <utility>
 
+using autoware::signal_processing::LowpassFilter1d;
+
 namespace autoware::twist2accel
 {
 using std::placeholders::_1;

localization/autoware_twist2accel/src/twist2accel.hpp

@@ -15,7 +15,7 @@
 #ifndef TWIST2ACCEL_HPP_
 #define TWIST2ACCEL_HPP_
 
-#include "signal_processing/lowpass_filter_1d.hpp"
+#include "autoware/signal_processing/lowpass_filter_1d.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -37,6 +37,8 @@
 #include <string>
 #include <vector>
 
+using autoware::signal_processing::LowpassFilter1d;
+
 namespace autoware::twist2accel
 {
 class Twist2Accel : public rclcpp::Node

localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp

@@ -17,8 +17,8 @@
 
 #include "yabloc_common/ground_server/filter/moving_averaging.hpp"
 
+#include <autoware/signal_processing/lowpass_filter_1d.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <signal_processing/lowpass_filter_1d.hpp>
 #include <yabloc_common/ground_plane.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -38,6 +38,8 @@
 
 #include <vector>
 
+using autoware::signal_processing::LowpassFilter1d;
+
 namespace yabloc::ground_server
 {
 class GroundServer : public rclcpp::Node

localization/yabloc/yabloc_common/package.xml

@@ -18,6 +18,7 @@
 
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_signal_processing</depend>
   <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
@@ -26,7 +27,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>signal_processing</depend>
   <depend>sophus</depend>
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp

@@ -19,10 +19,10 @@
 #include "autoware/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
 #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
+#include "autoware/signal_processing/lowpass_filter_1d.hpp"
 #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
-#include "signal_processing/lowpass_filter_1d.hpp"
 
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp

@@ -18,14 +18,16 @@
 #include "autoware/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
 #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
 #include "autoware/obstacle_cruise_planner/planner_interface.hpp"
-#include "signal_processing/lowpass_filter_1d.hpp"
+#include "autoware/signal_processing/lowpass_filter_1d.hpp"
 
 #include "visualization_msgs/msg/marker_array.hpp"
 
 #include <memory>
 #include <optional>
 #include <vector>
 
+using autoware::signal_processing::LowpassFilter1d;
+
 class PIDBasedPlanner : public PlannerInterface
 {
 public:

planning/autoware_obstacle_cruise_planner/package.xml

@@ -23,6 +23,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_signal_processing</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
@@ -32,7 +33,6 @@
   <depend>osqp_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>signal_processing</depend>
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>

planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp

@@ -23,6 +23,8 @@
 
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"
 
+using autoware::signal_processing::LowpassFilter1d;
+
 namespace
 {
 VelocityLimit createVelocityLimitMsg(