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Merge branch 'main' into feat/safety_checker_class
Signed-off-by: kyoichi-sugahara <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,5 @@ | ||
| { | ||
| "ignorePaths": [ | ||
| "**/perception/**", | ||
| "**/planning/**", | ||
| "**/sensing/**", | ||
| "perception/bytetrack/lib/**" | ||
| ], | ||
| "ignorePaths": ["**/perception/**", "**/sensing/**", "perception/bytetrack/lib/**"], | ||
| "ignoreRegExpList": [], | ||
| "words": [] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,36 @@ | ||
| cmake_minimum_required(VERSION 3.14) | ||
| project(geography_utils) | ||
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| find_package(autoware_cmake REQUIRED) | ||
| autoware_package() | ||
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| # GeographicLib | ||
| find_package(PkgConfig) | ||
| find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h | ||
| PATH_SUFFIXES GeographicLib | ||
| ) | ||
| set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR}) | ||
| find_library(GeographicLib_LIBRARIES NAMES Geographic) | ||
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| ament_auto_add_library(geography_utils SHARED | ||
| src/height.cpp | ||
| src/lanelet2_projector.cpp | ||
| ) | ||
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| target_link_libraries(geography_utils | ||
| ${GeographicLib_LIBRARIES} | ||
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_cmake_ros REQUIRED) | ||
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| file(GLOB_RECURSE test_files test/*.cpp) | ||
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| ament_add_ros_isolated_gtest(test_geography_utils ${test_files}) | ||
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| target_link_libraries(test_geography_utils | ||
| geography_utils | ||
| ) | ||
| endif() | ||
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| ament_auto_package() |
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| # geography_utils | ||
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| ## Purpose | ||
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| This package contains geography-related functions used by other packages, so please refer to them as needed. |
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef GEOGRAPHY_UTILS__HEIGHT_HPP_ | ||
| #define GEOGRAPHY_UTILS__HEIGHT_HPP_ | ||
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| #include <map> | ||
| #include <stdexcept> | ||
| #include <string> | ||
| #include <utility> | ||
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| namespace geography_utils | ||
| { | ||
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| typedef double (*HeightConversionFunction)( | ||
| const double height, const double latitude, const double longitude); | ||
| double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude); | ||
| double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude); | ||
| double convert_height( | ||
| const double height, const double latitude, const double longitude, | ||
| const std::string & source_vertical_datum, const std::string & target_vertical_datum); | ||
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| } // namespace geography_utils | ||
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| #endif // GEOGRAPHY_UTILS__HEIGHT_HPP_ |
32 changes: 32 additions & 0 deletions
32
common/geography_utils/include/geography_utils/lanelet2_projector.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ | ||
| #define GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ | ||
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| #include <tier4_map_msgs/msg/map_projector_info.hpp> | ||
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| #include <lanelet2_io/Projection.h> | ||
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| #include <memory> | ||
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| namespace geography_utils | ||
| { | ||
| using MapProjectorInfo = tier4_map_msgs::msg::MapProjectorInfo; | ||
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| std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInfo & projector_info); | ||
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| } // namespace geography_utils | ||
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| #endif // GEOGRAPHY_UTILS__LANELET2_PROJECTOR_HPP_ |
15 changes: 9 additions & 6 deletions
15
sensing/geo_pos_conv/package.xml → common/geography_utils/package.xml
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| <?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>geo_pos_conv</name> | ||
| <version>2.0.0</version> | ||
| <description>The ROS 2 geo_pos_conv package</description> | ||
| <maintainer email="[email protected]">Yamato Ando</maintainer> | ||
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| <name>geography_utils</name> | ||
| <version>0.1.0</version> | ||
| <description>The geography_utils package</description> | ||
| <maintainer email="[email protected]">Koji Minoda</maintainer> | ||
| <license>Apache License 2.0</license> | ||
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| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
| <buildtool_depend>autoware_cmake</buildtool_depend> | ||
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| <depend>rclcpp</depend> | ||
| <depend>geographiclib</depend> | ||
| <depend>lanelet2_extension</depend> | ||
| <depend>lanelet2_io</depend> | ||
| <depend>tier4_map_msgs</depend> | ||
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| <test_depend>ament_cmake_ros</test_depend> | ||
| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>autoware_lint_common</test_depend> | ||
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