refactor(qp_interface): prefix package and namespace with autoware (#…

…9236)

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

.github/CODEOWNERS

@@ -17,6 +17,7 @@ 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_polar_grid/** [email protected]
+common/autoware_qp_interface/** [email protected] [email protected] [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]
@@ -28,7 +29,6 @@ common/component_interface_utils/** [email protected] [email protected]
 common/fake_test_node/** [email protected] [email protected] [email protected] [email protected]
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
-common/qp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/tier4_adapi_rviz_plugin/** [email protected] [email protected] [email protected]
 common/tier4_api_utils/** [email protected]
 common/tier4_camera_view_rviz_plugin/** [email protected] [email protected]

common/autoware_auto_common/design/comparisons.md

@@ -28,7 +28,7 @@ The `exclusive_or` function will test whether two values cast to different boole
 #include <iostream>
 
 // using-directive is just for illustration; don't do this in practice
-using namespace autoware::common::helper_functions::comparisons;
+using namespace autoware::qp_interface::helper_functions::comparisons;
 
 static constexpr auto epsilon = 0.2;
 static constexpr auto relative_epsilon = 0.01;

common/qp_interface/CMakeLists.txt → common/autoware_qp_interface/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(qp_interface)
+project(autoware_qp_interface)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -20,10 +20,10 @@ set(QP_INTERFACE_LIB_SRC
 )
 
 set(QP_INTERFACE_LIB_HEADERS
-  include/qp_interface/qp_interface.hpp
-  include/qp_interface/osqp_interface.hpp
-  include/qp_interface/osqp_csc_matrix_conv.hpp
-  include/qp_interface/proxqp_interface.hpp
+  include/autoware/qp_interface/qp_interface.hpp
+  include/autoware/qp_interface/osqp_interface.hpp
+  include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
+  include/autoware/qp_interface/proxqp_interface.hpp
 )
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
@@ -32,13 +32,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast)
 
-target_include_directories(qp_interface
+target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
     "${OSQP_INCLUDE_DIR}"
     "${EIGEN3_INCLUDE_DIR}"
 )
 
-ament_target_dependencies(qp_interface
+ament_target_dependencies(${PROJECT_NAME}
   Eigen3
   osqp_vendor
   proxsuite

common/qp_interface/design/qp_interface-design.md → common/autoware_qp_interface/design/qp_interface-design.md

@@ -1,6 +1,6 @@
 # Interface for QP solvers
 
-This is the design document for the `qp_interface` package.
+This is the design document for the `autoware_qp_interface` package.
 
 ## Purpose / Use cases
 

common/qp_interface/include/qp_interface/osqp_csc_matrix_conv.hpp → common/autoware_qp_interface/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
-#define QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+#define AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
 
 #include "osqp/glob_opts.h"
 
 #include <Eigen/Core>
 
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 /// \brief Compressed-Column-Sparse Matrix
 struct CSC_Matrix
@@ -41,6 +41,6 @@ CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat);
 /// \brief Print the given CSC matrix to the standard output
 void printCSCMatrix(const CSC_Matrix & csc_mat);
 
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_

common/qp_interface/include/qp_interface/osqp_interface.hpp → common/autoware_qp_interface/include/autoware/qp_interface/osqp_interface.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__OSQP_INTERFACE_HPP_
-#define QP_INTERFACE__OSQP_INTERFACE_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_
+#define AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_
 
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 #include "osqp/osqp.h"
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
-#include "qp_interface/qp_interface.hpp"
 
 #include <limits>
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 constexpr c_float OSQP_INF = 1e30;
 
@@ -142,6 +142,6 @@ class OSQPInterface : public QPInterface
 
   std::vector<double> optimizeImpl() override;
 };
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__OSQP_INTERFACE_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__OSQP_INTERFACE_HPP_

common/qp_interface/include/qp_interface/proxqp_interface.hpp → common/autoware_qp_interface/include/autoware/qp_interface/proxqp_interface.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__PROXQP_INTERFACE_HPP_
-#define QP_INTERFACE__PROXQP_INTERFACE_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_
+#define AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_
 
-#include "qp_interface/qp_interface.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 
 #include <proxsuite/helpers/optional.hpp>
 #include <proxsuite/proxqp/sparse/sparse.hpp>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 class ProxQPInterface : public QPInterface
 {
@@ -52,6 +52,6 @@ class ProxQPInterface : public QPInterface
 
   std::vector<double> optimizeImpl() override;
 };
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__PROXQP_INTERFACE_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__PROXQP_INTERFACE_HPP_

common/qp_interface/include/qp_interface/qp_interface.hpp → common/autoware_qp_interface/include/autoware/qp_interface/qp_interface.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef QP_INTERFACE__QP_INTERFACE_HPP_
-#define QP_INTERFACE__QP_INTERFACE_HPP_
+#ifndef AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_
+#define AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_
 
 #include <Eigen/Core>
 
 #include <optional>
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 class QPInterface
 {
@@ -56,6 +56,6 @@ class QPInterface
   std::optional<size_t> variables_num_{std::nullopt};
   std::optional<size_t> constraints_num_{std::nullopt};
 };
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface
 
-#endif  // QP_INTERFACE__QP_INTERFACE_HPP_
+#endif  // AUTOWARE__QP_INTERFACE__QP_INTERFACE_HPP_

common/qp_interface/package.xml → common/autoware_qp_interface/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>qp_interface</name>
+  <name>autoware_qp_interface</name>
   <version>1.0.0</version>
   <description>Interface for the QP solvers</description>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>

common/qp_interface/src/osqp_csc_matrix_conv.cpp → common/autoware_qp_interface/src/osqp_csc_matrix_conv.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>
@@ -21,7 +21,7 @@
 #include <iostream>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
 {
@@ -131,4 +131,4 @@ void printCSCMatrix(const CSC_Matrix & csc_mat)
   }
   std::cout << "]\n";
 }
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface

common/qp_interface/src/osqp_interface.cpp → common/autoware_qp_interface/src/osqp_interface.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/osqp_interface.hpp"
+#include "autoware/qp_interface/osqp_interface.hpp"
 
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 OSQPInterface::OSQPInterface(
   const bool enable_warm_start, const int max_iteration, const c_float eps_abs,
@@ -386,4 +386,4 @@ std::vector<double> OSQPInterface::optimize(
   return result;
 }
 
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface

common/qp_interface/src/proxqp_interface.cpp → common/autoware_qp_interface/src/proxqp_interface.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/proxqp_interface.hpp"
+#include "autoware/qp_interface/proxqp_interface.hpp"
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 using proxsuite::proxqp::QPSolverOutput;
 
@@ -150,4 +150,4 @@ std::vector<double> ProxQPInterface::optimizeImpl()
   }
   return result;
 }
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface

common/qp_interface/src/qp_interface.cpp → common/autoware_qp_interface/src/qp_interface.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "qp_interface/qp_interface.hpp"
+#include "autoware/qp_interface/qp_interface.hpp"
 
 #include <iostream>
 #include <string>
 #include <vector>
 
-namespace autoware::common
+namespace autoware::qp_interface
 {
 void QPInterface::initializeProblem(
   const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<double> & q,
@@ -67,4 +67,4 @@ std::vector<double> QPInterface::optimize(
 
   return result;
 }
-}  // namespace autoware::common
+}  // namespace autoware::qp_interface

common/qp_interface/test/test_csc_matrix_conv.cpp → common/autoware_qp_interface/test/test_csc_matrix_conv.cpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/qp_interface/osqp_csc_matrix_conv.hpp"
 #include "gtest/gtest.h"
-#include "qp_interface/osqp_csc_matrix_conv.hpp"
 
 #include <Eigen/Core>
 
@@ -23,8 +23,8 @@
 
 TEST(TestCscMatrixConv, Nominal)
 {
-  using autoware::common::calCSCMatrix;
-  using autoware::common::CSC_Matrix;
+  using autoware::qp_interface::calCSCMatrix;
+  using autoware::qp_interface::CSC_Matrix;
 
   Eigen::MatrixXd rect1(1, 2);
   rect1 << 0.0, 1.0;
@@ -117,8 +117,8 @@ TEST(TestCscMatrixConv, Nominal)
 }
 TEST(TestCscMatrixConv, Trapezoidal)
 {
-  using autoware::common::calCSCMatrixTrapezoidal;
-  using autoware::common::CSC_Matrix;
+  using autoware::qp_interface::calCSCMatrixTrapezoidal;
+  using autoware::qp_interface::CSC_Matrix;
 
   Eigen::MatrixXd square1(2, 2);
   Eigen::MatrixXd square2(3, 3);
@@ -166,10 +166,10 @@ TEST(TestCscMatrixConv, Trapezoidal)
 }
 TEST(TestCscMatrixConv, Print)
 {
-  using autoware::common::calCSCMatrix;
-  using autoware::common::calCSCMatrixTrapezoidal;
-  using autoware::common::CSC_Matrix;
-  using autoware::common::printCSCMatrix;
+  using autoware::qp_interface::calCSCMatrix;
+  using autoware::qp_interface::calCSCMatrixTrapezoidal;
+  using autoware::qp_interface::CSC_Matrix;
+  using autoware::qp_interface::printCSCMatrix;
   Eigen::MatrixXd square1(2, 2);
   Eigen::MatrixXd rect1(1, 2);
   square1 << 1.0, 2.0, 2.0, 4.0;