Merge branch 'master' into RJD-1388/follow_trajectory

tier4 · Dec 3, 2024 · 0bd75cd · 0bd75cd
2 parents 2f87d0b + 3dd43ab
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,11 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache 2.0</license>

diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,11 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>map package for simple cross</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>C++ mock scenarios</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,11 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Contributors: Tatsuya Yamasaki
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge branch 'master' into feature/relative-speed-condition

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,20 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+6.2.1 (2024-12-03)
+------------------
+* Merge pull request `#1466 <https://github.com/tier4/scenario_simulator_v2/issues/1466>`_ from tier4/refactor/distance-condition-and-relative-distance-condition
+  Refactor/relative distance condition
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Merge branch 'master' into refactor/distance-condition-and-relative-distance-condition
+* Update member function `RelativeDistanceCondition::evaluate` to be static
+* Remove duplicate entity existence check in `RelativeDistanceCondition`
+* Update `RelativeDistanceCondition::evaluate()` to check if the given entities exists
+* Add default clause to switch to suppress warnings
+* Update `RelativeDistanceCondition::evaluate` to receive 1 more EntityRef
+* Rename `RelativeDistanceCondition::distance` to `evaluate`
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 6.2.0 (2024-12-02)
 ------------------
 * Merge pull request `#1459 <https://github.com/tier4/scenario_simulator_v2/issues/1459>`_ from tier4/feature/relative-speed-condition

diff --git a/...nario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp b/...nario_interpreter/include/openscenario_interpreter/syntax/relative_distance_condition.hpp
@@ -99,12 +99,14 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi
   template <
     CoordinateSystem::value_type, RelativeDistanceType::value_type, RoutingAlgorithm::value_type,
     Boolean::value_type>
-  auto distance(const EntityRef &) -> double
+  static auto distance(const EntityRef &, const EntityRef &) -> double
   {
     throw SyntaxError(__FILE__, ":", __LINE__);
   }
 
-  auto distance(const EntityRef &) -> double;
+  static auto evaluate(
+    const Entities *, const Entity &, const Entity &, CoordinateSystem, RelativeDistanceType,
+    RoutingAlgorithm, Boolean) -> double;
 
   auto evaluate() -> Object;
 };
@@ -113,20 +115,20 @@ struct RelativeDistanceCondition : private Scope, private SimulatorCore::Conditi
 // cspell: ignore euclidian
 
 // clang-format off
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  true >(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  false>(const EntityRef &) -> double;
-template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  true >(const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::euclidianDistance, RoutingAlgorithm::undefined, true >(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::entity, RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::undefined, true >(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::undefined, true >(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::lateral,           RoutingAlgorithm::shortest,  true >(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  false>(const EntityRef &, const EntityRef &) -> double;
+template <> auto RelativeDistanceCondition::distance<CoordinateSystem::lane,   RelativeDistanceType::longitudinal,      RoutingAlgorithm::shortest,  true >(const EntityRef &, const EntityRef &) -> double;
 // clang-format on
 }  // namespace syntax
 }  // namespace openscenario_interpreter

diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>6.2.0</version>
+  <version>6.2.1</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>