Merge branch 'RJD-1057-remove-traffic-lights-from-entity-manager' int…

…o RJD-1057-traffic-lights-tests

.github/workflows/Docker.yaml

@@ -25,11 +25,8 @@ jobs:
     strategy:
       matrix:
         rosdistro: [humble]
-        arch: [amd64]
-        # Build test for arm64 CPU is broken.
-        # This is a temporary solution and will be repaired in the future.
-        # See also https://github.com/tier4/scenario_simulator_v2/pull/1295
-        # arch: [amd64, arm64]
+        arch: [amd64, arm64]
+
     steps:
       - name: Free Disk Space (Ubuntu)
         uses: jlumbroso/free-disk-space@main
@@ -51,6 +48,12 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Docker Qemu Setup
+        run: |
+          docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+          docker buildx create --use
+          docker buildx inspect --bootstrap
+
       - name: Build (${{ matrix.arch }})
         if: github.event_name == 'pull_request'
         uses: docker/bake-action@v3

Dockerfile.arm64

@@ -36,17 +36,11 @@ RUN vcs import external < dependency_${ROS_DISTRO}.repos
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
 RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
-    source /opt/ros/${ROS_DISTRO}/setup.bash \
-    && apt-get update \
-    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+    bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && apt-get update && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}"
 
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
 
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --symlink-install \
-    --cmake-args \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DBUILD_CPP_MOCK_SCENARIOS=ON
+RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_CPP_MOCK_SCENARIOS=ON"
 COPY ./docker-entrypoint.sh /
 RUN chmod a+x /docker-entrypoint.sh
 

common/math/arithmetic/CHANGELOG.rst

@@ -21,6 +21,38 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.21 (2024-10-31)
+-------------------
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Contributors: Grzegorz Maj, Masaya Kataoka
+
+4.3.20 (2024-10-31)
+-------------------
+* Merge branch 'master' into RJD-1335/requestSpeedChange
+* Contributors: Grzegorz Maj
+
+4.3.19 (2024-10-30)
+-------------------
+
+4.3.18 (2024-10-18)
+-------------------
+* Merge branch 'master' into feature/json/boost-json
+* Merge branch 'master' into feature/json/boost-json
+* Merge remote-tracking branch 'origin/master' into feature/json/boost-json
+* Contributors: Kotaro Yoshimoto, f0reachARR, ぐるぐる
+
+4.3.17 (2024-10-17)
+-------------------
+* Merge branch 'master' into fix/remove_warnings_from_sonarcloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into fix/remove_warnings_from_sonarcloud
+* Contributors: Masaya Kataoka
+
+4.3.16 (2024-10-15)
+-------------------
+
 4.3.15 (2024-10-10)
 -------------------
 * Merge branch 'master' into feature/faster-compilation

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>4.3.15</version>
+  <version>4.3.21</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

common/math/geometry/CHANGELOG.rst

@@ -21,6 +21,46 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.21 (2024-10-31)
+-------------------
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Contributors: Grzegorz Maj, Masaya Kataoka
+
+4.3.20 (2024-10-31)
+-------------------
+* Merge branch 'master' into RJD-1335/requestSpeedChange
+* Contributors: Grzegorz Maj
+
+4.3.19 (2024-10-30)
+-------------------
+
+4.3.18 (2024-10-18)
+-------------------
+* Merge branch 'master' into feature/json/boost-json
+* Merge branch 'master' into feature/json/boost-json
+* Merge remote-tracking branch 'origin/master' into feature/json/boost-json
+* Contributors: Kotaro Yoshimoto, f0reachARR, ぐるぐる
+
+4.3.17 (2024-10-17)
+-------------------
+* Merge pull request `#1417 <https://github.com/tier4/scenario_simulator_v2/issues/1417>`_ from tier4/fix/remove_warnings_from_sonarcloud
+  Fix/remove warnings from sonarcloud
+* Merge branch 'master' into fix/remove_warnings_from_sonarcloud
+* fix warning "There is a intentionality issues on this line, the code is not efficient"
+* fix some warnings
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into fix/remove_warnings_from_sonarcloud
+* remove const
+* add const to the curve parameters and use const reference in constructor
+* remove typedef and remove variable which is used just once.
+* remove unused operator and typedef
+* Contributors: Masaya Kataoka, Tatsuya Yamasaki
+
+4.3.16 (2024-10-15)
+-------------------
+
 4.3.15 (2024-10-10)
 -------------------
 * Merge pull request `#1361 <https://github.com/tier4/scenario_simulator_v2/issues/1361>`_ from tier4/fix/RJD-1296-fix-random001-ego-issue

common/math/geometry/include/geometry/bounding_box.hpp

@@ -33,8 +33,8 @@ namespace math
 namespace geometry
 {
 
-typedef boost::geometry::model::d2::point_xy<double> boost_point;
-typedef boost::geometry::model::polygon<boost_point> boost_polygon;
+using boost_point = boost::geometry::model::d2::point_xy<double>;
+using boost_polygon = boost::geometry::model::polygon<boost_point>;
 
 struct DistancesFromCenterToEdge
 {

common/math/geometry/include/geometry/polygon/line_segment.hpp

@@ -41,8 +41,6 @@ class LineSegment
   LineSegment(
     const geometry_msgs::msg::Point & start_point, const geometry_msgs::msg::Vector3 & vec,
     double length);
-  ~LineSegment();
-  LineSegment & operator=(const LineSegment &);
 
   auto isIntersect2D(const geometry_msgs::msg::Point & point) const -> bool;
   auto isIntersect2D(const LineSegment & line) const -> bool;

common/math/geometry/include/geometry/spline/hermite_curve.hpp

@@ -39,8 +39,8 @@ class HermiteCurve
 
 public:
   HermiteCurve(
-    geometry_msgs::msg::Pose start_pose, geometry_msgs::msg::Pose goal_pose,
-    geometry_msgs::msg::Vector3 start_vec, geometry_msgs::msg::Vector3 goal_vec);
+    const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose,
+    const geometry_msgs::msg::Vector3 & start_vec, const geometry_msgs::msg::Vector3 & goal_vec);
   HermiteCurve(
     double ax, double bx, double cx, double dx, double ay, double by, double cy, double dy,
     double az, double bz, double cz, double dz);

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>4.3.15</version>
+  <version>4.3.21</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

common/math/geometry/src/distance.cpp

@@ -58,8 +58,8 @@ double getDistance2D(
   const std::vector<geometry_msgs::msg::Point> & polygon0,
   const std::vector<geometry_msgs::msg::Point> & polygon1)
 {
-  typedef boost::geometry::model::d2::point_xy<double> boost_point;
-  typedef boost::geometry::model::polygon<boost_point> boost_polygon;
+  using boost_point = boost::geometry::model::d2::point_xy<double>;
+  using boost_polygon = boost::geometry::model::polygon<boost_point>;
   boost_polygon poly0;
   for (const auto & point : polygon0) {
     boost::geometry::exterior_ring(poly0).push_back(boost_point(point.x, point.y));

common/math/geometry/src/intersection/collision.cpp

@@ -26,23 +26,24 @@ namespace math
 {
 namespace geometry
 {
+using boost_point = boost::geometry::model::d2::point_xy<double>;
+using boost_polygon = boost::geometry::model::polygon<boost_point>;
+
 bool checkCollision2D(
   geometry_msgs::msg::Pose pose0, traffic_simulator_msgs::msg::BoundingBox bbox0,
   geometry_msgs::msg::Pose pose1, traffic_simulator_msgs::msg::BoundingBox bbox1)
 {
-  double z_diff_pose =
-    std::abs((pose0.position.z + bbox0.center.z) - (pose1.position.z + bbox1.center.z));
-  if (z_diff_pose > (std::abs(bbox0.dimensions.z + bbox1.dimensions.z) * 0.5)) {
+  if (
+    std::abs((pose0.position.z + bbox0.center.z) - (pose1.position.z + bbox1.center.z)) >
+    (std::abs(bbox0.dimensions.z + bbox1.dimensions.z) * 0.5)) {
     return false;
   }
-  namespace bg = boost::geometry;
-  typedef bg::model::d2::point_xy<double> bg_point;
-  const bg::model::polygon<bg_point> poly0 = math::geometry::toPolygon2D(pose0, bbox0);
-  const bg::model::polygon<bg_point> poly1 = math::geometry::toPolygon2D(pose1, bbox1);
-  if (bg::intersects(poly0, poly1)) {
+  const boost_polygon poly0 = math::geometry::toPolygon2D(pose0, bbox0);
+  const boost_polygon poly1 = math::geometry::toPolygon2D(pose1, bbox1);
+  if (boost::geometry::intersects(poly0, poly1)) {
     return true;
   }
-  if (bg::disjoint(poly0, poly1)) {
+  if (boost::geometry::disjoint(poly0, poly1)) {
     return false;
   }
   return true;
@@ -51,8 +52,6 @@ bool checkCollision2D(
 bool contains(
   const std::vector<geometry_msgs::msg::Point> & polygon, const geometry_msgs::msg::Point & point)
 {
-  typedef boost::geometry::model::d2::point_xy<double> boost_point;
-  typedef boost::geometry::model::polygon<boost_point> boost_polygon;
   boost_polygon poly;
   for (const auto & p : polygon) {
     boost::geometry::exterior_ring(poly).push_back(boost_point(p.x, p.y));

common/math/geometry/src/polygon/line_segment.cpp

@@ -64,8 +64,6 @@ LineSegment::LineSegment(
 {
 }
 
-LineSegment::~LineSegment() {}
-
 /**
  * @brief Get point on the line segment from s value.
  * @param s Normalized s value in coordinate along line segment.
@@ -301,8 +299,6 @@ auto LineSegment::denormalize(const double s) const -> double
   }
 }
 
-LineSegment & LineSegment::operator=(const LineSegment &) { return *this; }
-
 /**
  * @brief Get the line segments from points. 
  * @param points Points you want to build line segments.

common/math/geometry/src/polygon/polygon.cpp

@@ -26,8 +26,8 @@ namespace geometry
 std::vector<geometry_msgs::msg::Point> get2DConvexHull(
   const std::vector<geometry_msgs::msg::Point> & points)
 {
-  typedef boost::geometry::model::d2::point_xy<double> boost_point;
-  typedef boost::geometry::model::polygon<boost_point> boost_polygon;
+  using boost_point = boost::geometry::model::d2::point_xy<double>;
+  using boost_polygon = boost::geometry::model::polygon<boost_point>;
   boost_polygon poly;
   for (const auto & p : points) {
     boost::geometry::exterior_ring(poly).push_back(boost_point(p.x, p.y));

common/math/geometry/src/spline/catmull_rom_spline.cpp

@@ -171,7 +171,7 @@ CatmullRomSpline::CatmullRomSpline(const std::vector<geometry_msgs::msg::Point>
             bz = bz * 0.5;
             cz = cz * 0.5;
             dz = dz * 0.5;
-            curves_.emplace_back(HermiteCurve(ax, bx, cx, dx, ay, by, cy, dy, az, bz, cz, dz));
+            curves_.emplace_back(ax, bx, cx, dx, ay, by, cy, dy, az, bz, cz, dz);
           } else if (i == (n - 1)) {
             double ax = 0;
             double bx = control_points[i - 1].x - 2 * control_points[i].x + control_points[i + 1].x;
@@ -197,7 +197,7 @@ CatmullRomSpline::CatmullRomSpline(const std::vector<geometry_msgs::msg::Point>
             bz = bz * 0.5;
             cz = cz * 0.5;
             dz = dz * 0.5;
-            curves_.emplace_back(HermiteCurve(ax, bx, cx, dx, ay, by, cy, dy, az, bz, cz, dz));
+            curves_.emplace_back(ax, bx, cx, dx, ay, by, cy, dy, az, bz, cz, dz);
           } else {
             double ax = -1 * control_points[i - 1].x + 3 * control_points[i].x -
                         3 * control_points[i + 1].x + control_points[i + 2].x;
@@ -229,7 +229,7 @@ CatmullRomSpline::CatmullRomSpline(const std::vector<geometry_msgs::msg::Point>
             bz = bz * 0.5;
             cz = cz * 0.5;
             dz = dz * 0.5;
-            curves_.emplace_back(HermiteCurve(ax, bx, cx, dx, ay, by, cy, dy, az, bz, cz, dz));
+            curves_.emplace_back(ax, bx, cx, dx, ay, by, cy, dy, az, bz, cz, dz);
           }
         }
         for (const auto & curve : curves_) {

common/math/geometry/src/spline/hermite_curve.cpp

@@ -48,24 +48,22 @@ HermiteCurve::HermiteCurve(
 }
 
 HermiteCurve::HermiteCurve(
-  geometry_msgs::msg::Pose start_pose, geometry_msgs::msg::Pose goal_pose,
-  geometry_msgs::msg::Vector3 start_vec, geometry_msgs::msg::Vector3 goal_vec)
+  const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose,
+  const geometry_msgs::msg::Vector3 & start_vec, const geometry_msgs::msg::Vector3 & goal_vec)
+: ax_(2 * start_pose.position.x - 2 * goal_pose.position.x + start_vec.x + goal_vec.x),
+  bx_(-3 * start_pose.position.x + 3 * goal_pose.position.x - 2 * start_vec.x - goal_vec.x),
+  cx_(start_vec.x),
+  dx_(start_pose.position.x),
+  ay_(2 * start_pose.position.y - 2 * goal_pose.position.y + start_vec.y + goal_vec.y),
+  by_(-3 * start_pose.position.y + 3 * goal_pose.position.y - 2 * start_vec.y - goal_vec.y),
+  cy_(start_vec.y),
+  dy_(start_pose.position.y),
+  az_(2 * start_pose.position.z - 2 * goal_pose.position.z + start_vec.z + goal_vec.z),
+  bz_(-3 * start_pose.position.z + 3 * goal_pose.position.z - 2 * start_vec.z - goal_vec.z),
+  cz_(start_vec.z),
+  dz_(start_pose.position.z),
+  length_(getLength(100))
 {
-  ax_ = 2 * start_pose.position.x - 2 * goal_pose.position.x + start_vec.x + goal_vec.x;
-  bx_ = -3 * start_pose.position.x + 3 * goal_pose.position.x - 2 * start_vec.x - goal_vec.x;
-  cx_ = start_vec.x;
-  dx_ = start_pose.position.x;
-
-  ay_ = 2 * start_pose.position.y - 2 * goal_pose.position.y + start_vec.y + goal_vec.y;
-  by_ = -3 * start_pose.position.y + 3 * goal_pose.position.y - 2 * start_vec.y - goal_vec.y;
-  cy_ = start_vec.y;
-  dy_ = start_pose.position.y;
-
-  az_ = 2 * start_pose.position.z - 2 * goal_pose.position.z + start_vec.z + goal_vec.z;
-  bz_ = -3 * start_pose.position.z + 3 * goal_pose.position.z - 2 * start_vec.z - goal_vec.z;
-  cz_ = start_vec.z;
-  dz_ = start_pose.position.z;
-  length_ = getLength(100);
 }
 
 double HermiteCurve::getSquaredDistanceIn2D(

common/scenario_simulator_exception/CHANGELOG.rst

@@ -21,6 +21,38 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+4.3.21 (2024-10-31)
+-------------------
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Merge branch 'master' into RJD-1337/getQuadraticAccelerationDuration
+* Contributors: Grzegorz Maj, Masaya Kataoka
+
+4.3.20 (2024-10-31)
+-------------------
+* Merge branch 'master' into RJD-1335/requestSpeedChange
+* Contributors: Grzegorz Maj
+
+4.3.19 (2024-10-30)
+-------------------
+
+4.3.18 (2024-10-18)
+-------------------
+* Merge branch 'master' into feature/json/boost-json
+* Merge branch 'master' into feature/json/boost-json
+* Merge remote-tracking branch 'origin/master' into feature/json/boost-json
+* Contributors: Kotaro Yoshimoto, f0reachARR, ぐるぐる
+
+4.3.17 (2024-10-17)
+-------------------
+* Merge branch 'master' into fix/remove_warnings_from_sonarcloud
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into fix/remove_warnings_from_sonarcloud
+* Contributors: Masaya Kataoka
+
+4.3.16 (2024-10-15)
+-------------------
+
 4.3.15 (2024-10-10)
 -------------------
 * Merge branch 'master' into feature/faster-compilation

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>4.3.15</version>
+  <version>4.3.21</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>