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tier4 · Dec 3, 2024 · df4bf31 · df4bf31
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Showing 8 changed files with 16 additions and 15 deletions.
diff --git a/control/control_performance_analysis/README.md b/control/control_performance_analysis/README.md
@@ -65,7 +65,7 @@ Error acceleration calculations are made based on the velocity calculations abov
 | `longitudinal_error_acceleration`          | float | [m / s^2]                                                                                                         |
 | `heading_error`                            | float | [rad]                                                                                                             |
 | `heading_error_velocity`                   | float | [rad / s]                                                                                                         |
-| `control_effort_energy`                    | float | [u * R * u^T]                                                                                                     |
+| `control_effort_energy`                    | float | [u *R* u^T]                                                                                                       |
 | `error_energy`                             | float | lateral_error^2 + heading_error^2                                                                                 |
 | `value_approximation`                      | float | V = xPx' ; Value function from DARE Lyap matrix P                                                                 |
 | `curvature_estimate`                       | float | [1 / m]                                                                                                           |

diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
@@ -276,7 +276,7 @@ bool CTRVMotionModel::predictStateStep(const double dt, KalmanFilter & ekf) cons
   Eigen::MatrixXd X_next_t(DIM, 1);                               // predicted state
   X_next_t(IDX::X) = X_t(IDX::X) + X_t(IDX::VEL) * cos_yaw * dt;  // dx = v * cos(yaw)
   X_next_t(IDX::Y) = X_t(IDX::Y) + X_t(IDX::VEL) * sin_yaw * dt;  // dy = v * sin(yaw)
-  X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ)) * dt;       // dyaw = omega
+  X_next_t(IDX::YAW) = X_t(IDX::YAW) + (X_t(IDX::WZ))*dt;         // dyaw = omega
   X_next_t(IDX::VEL) = X_t(IDX::VEL);
   X_next_t(IDX::WZ) = X_t(IDX::WZ);
 

diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp
@@ -411,8 +411,8 @@ std::optional<geometry_msgs::msg::TransformStamped> SurroundObstacleCheckerNode:
 
 auto SurroundObstacleCheckerNode::isStopRequired(
   const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
-  const std::optional<rclcpp::Time> & last_obstacle_found_time,
-  const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>
+  const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
+  -> std::pair<bool, std::optional<rclcpp::Time>>
 {
   if (!is_vehicle_stopped) {
     return std::make_pair(false, std::nullopt);

diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp
@@ -89,8 +89,8 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
 
   auto isStopRequired(
     const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
-    const std::optional<rclcpp::Time> & last_obstacle_found_time,
-    const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>;
+    const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
+    -> std::pair<bool, std::optional<rclcpp::Time>>;
 
   // ros
   mutable tf2_ros::Buffer tf_buffer_{get_clock()};

diff --git a/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp b/planning/autoware_surround_obstacle_checker/test/test_surround_obstacle_checker.cpp
@@ -48,8 +48,8 @@ class SurroundObstacleCheckerNodeTest : public ::testing::Test
 
   auto isStopRequired(
     const bool is_obstacle_found, const bool is_vehicle_stopped, const State & state,
-    const std::optional<rclcpp::Time> & last_obstacle_found_time,
-    const double time_threshold) const -> std::pair<bool, std::optional<rclcpp::Time>>
+    const std::optional<rclcpp::Time> & last_obstacle_found_time, const double time_threshold) const
+    -> std::pair<bool, std::optional<rclcpp::Time>>
   {
     return node_->isStopRequired(
       is_obstacle_found, is_vehicle_stopped, state, last_obstacle_found_time, time_threshold);

diff --git a/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp b/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.cpp
@@ -32,8 +32,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co
 }
 
 auto findNearestCollisionPoint(
-  const LineString2d & line1, const LineString2d & line2,
-  const Point2d & origin) -> std::optional<Point2d>
+  const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
+  -> std::optional<Point2d>
 {
   std::vector<Point2d> collision_points;
   bg::intersection(line1, line2, collision_points);

diff --git a/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp b/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/utils.hpp
@@ -48,8 +48,8 @@ auto getOffsetPoint(const Eigen::Vector2d & src, const Eigen::Vector2d & dst, co
  * @return intersection point. if there is no intersection point, return std::nullopt.
  */
 auto findNearestCollisionPoint(
-  const LineString2d & line1, const LineString2d & line2,
-  const Point2d & origin) -> std::optional<Point2d>;
+  const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
+  -> std::optional<Point2d>;
 
 /**
  * @brief find intersection point between path and stop line and return the point.

diff --git a/vehicle/autoware_accel_brake_map_calibrator/README.md b/vehicle/autoware_accel_brake_map_calibrator/README.md
@@ -212,10 +212,11 @@ Update by Recursive Least Squares(RLS) method using data close enough to each gr
 #### Parameters
 
 Data selection is determined by the following thresholds.
-| Name | Default Value |
+
+| Name                    | Default Value |
 | ----------------------- | ------------- |
-| velocity_diff_threshold | 0.556 |
-| pedal_diff_threshold | 0.03 |
+| velocity_diff_threshold | 0.556         |
+| pedal_diff_threshold    | 0.03          |
 
 #### Update formula