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autoware_universe_utils package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_universe_utils package

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Takayuki Murooka
  • Mamoru Sobue

Authors

No additional authors.

autoware_universe_utils

Purpose

This package contains many common functions used by other packages, so please refer to them as needed.

For developers

autoware_universe_utils.hpp header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.

autoware::universe_utils

systems

autoware::universe_utils::TimeKeeper

Constructor
template <typename... Reporters>
explicit TimeKeeper(Reporters... reporters);

  • Initializes the TimeKeeper with a list of reporters.
Methods
  • void add_reporter(std::ostream * os);

    • Adds a reporter to output processing times to an ostream.
    • os: Pointer to the ostream object.
  • void add_reporter(rclcpp::Publisher<ProcessingTimeDetail>::SharedPtr publisher);

    • Adds a reporter to publish processing times to an rclcpp publisher.
    • publisher: Shared pointer to the rclcpp publisher.
  • void add_reporter(rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher);

    • Adds a reporter to publish processing times to an rclcpp publisher with std_msgs::msg::String.
    • publisher: Shared pointer to the rclcpp publisher.
  • void start_track(const std::string & func_name);

    • Starts tracking the processing time of a function.
    • func_name: Name of the function to be tracked.
  • void end_track(const std::string & func_name);

    • Ends tracking the processing time of a function.
    • func_name: Name of the function to end tracking.
  • void comment(const std::string & comment);

    • Adds a comment to the current function being tracked.
    • comment: Comment to be added.
Note
  • It’s possible to start and end time measurements using start_track and end_track as shown below:
  time_keeper.start_track("example_function");
  // Your function code here
  time_keeper.end_track("example_function");
  
  • For safety and to ensure proper tracking, it is recommended to use ScopedTimeTrack.
Example
#include <rclcpp/rclcpp.hpp>

#include <std_msgs/msg/string.hpp>

#include <chrono>
#include <iostream>
#include <memory>
#include <thread>

class ExampleNode : public rclcpp::Node
{
public:
  ExampleNode() : Node("time_keeper_example")
  {
    publisher_ =
      create_publisher<autoware::universe_utils::ProcessingTimeDetail>("processing_time", 1);

    time_keeper_ = std::make_shared<autoware::universe_utils::TimeKeeper>(publisher_, &std::cerr);
    // You can also add a reporter later by add_reporter.
    // time_keeper_->add_reporter(publisher_);
    // time_keeper_->add_reporter(&std::cerr);

    timer_ =
      create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this));
  }

private:
  std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_;
  rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr publisher_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_str_;
  rclcpp::TimerBase::SharedPtr timer_;

  void func_a()
  {
    // Start constructing ProcessingTimeTree (because func_a is the root function)
    autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_);
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
    time_keeper_->comment("This is a comment for func_a");
    func_b();
    // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing
    // message and outputting to std::cerr)
  }

  void func_b()
  {
    autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_);
    std::this_thread::sleep_for(std::chrono::milliseconds(2));
    time_keeper_->comment("This is a comment for func_b");
    func_c();
  }

  void func_c()
  {
    autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_);
    std::this_thread::sleep_for(std::chrono::milliseconds(3));
    time_keeper_->comment("This is a comment for func_c");
  }
};

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<ExampleNode>();
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}

  • Output (console)
  ==========================
  func_a (6.243ms) : This is a comment for func_a
      └── func_b (5.116ms) : This is a comment for func_b
          └── func_c (3.055ms) : This is a comment for func_c
  
  • Output (ros2 topic echo /processing_time)
  ---
  nodes:
  - id: 1
    name: func_a
    processing_time: 6.366
    parent_id: 0
    comment: This is a comment for func_a
  - id: 2
    name: func_b
    processing_time: 5.237
    parent_id: 1
    comment: This is a comment for func_b
  - id: 3
    name: func_c
    processing_time: 3.156
    parent_id: 2
    comment: This is a comment for func_c
  

autoware::universe_utils::ScopedTimeTrack

Description

Class for automatically tracking the processing time of a function within a scope.

Constructor
ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper);

  • func_name: Name of the function to be tracked.
  • time_keeper: Reference to the TimeKeeper object.
Destructor
~ScopedTimeTrack();

  • Destroys the ScopedTimeTrack object, ending the tracking of the function.
CHANGELOG

Changelog for package autoware_universe_utils

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • fix(autoware_universe_utils): fix procedure to check if point is on edge (#10260)
    • fix procedure to check if point is on edge

    * add test cases ---------

  • Contributors: Hayato Mizushima, Mitsuhiro Sakamoto, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
  • feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
  • test(autoware_universe_utils): make opencv_fast_atan2 test reproducible (#9728)
  • feat(universe_utils): add Polygon Clipping implementation to do boolean operation on Polygons (XOR, OR, AND) (#8728) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>
  • Contributors: Fumiya Watanabe, Giovanni Muhammad Raditya, Max Schmeller, Ryohsuke Mitsudome

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (#9777)
  • feat(behavior_path_planner): use autoware internal stamped messages (#9750)
    • feat(behavior_path_planner): use autoware internal stamped messages

    * fix universe_utils ---------

  • feat!: move diagnostics_module from localization_util to unverse_utils (#9714)
    • feat!: move diagnostics_module from localization_util to unverse_utils
    • remove diagnostics module from localization_util
    • style(pre-commit): autofix
    • minor fix in pose_initializer
    • add test
    • style(pre-commit): autofix
    • remove unnecessary declaration
    • module -> interface
    • remove unnecessary equal expression
    • revert the remove of template function
    • style(pre-commit): autofix
    • use overload instead

    * include what you use -- test_diagnostics_interface.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_universe_utils): fix bug in test (#9710)
  • Contributors: Fumiya Watanabe, Ryuta Kambe, Takayuki Murooka, kminoda

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(cpplint): include what you use - common (#9564)
  • feat(universe_utils): add extra info to time keeper warning (#9484) add extra info to time keeper warning
  • refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (#9459)
    • add Accumulator class to autoware_universe_utils
    • use Accumulator on all evaluators.
    • pre-commit
    • found and fixed a bug. add more tests.
    • pre-commit

    * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • 0.39.0
  • update changelog
  • Merge commit '6a1ddbd08bd' into release-0.39.0
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Giovanni Muhammad Raditya, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran

0.39.0 (2024-11-25)

  • Merge commit '6a1ddbd08bd' into release-0.39.0
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Yutaka Kondo

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (#8380)
    • feat: add option for updating distance and azimuth value
    • chore: clean code
    • chore: remove space
    • chore: add documentation
    • chore: fix docs
    • feat: conversion formula implementation for degree, still need to change to rad
    • chore: fix tests for AzimuthConversionExists function
    • feat: add fastatan to utils
    • feat: remove seperate sin, cos and use sin_and_cos function
    • chore: fix readme
    • chore: fix some grammar errors
    • chore: fix spell error
    • chore: set debug mode to false
    • chore: set update_azimuth_and_distance default value to false
    • chore: update readme
    • chore: remove cout
    • chore: add opencv license
    • chore: fix grammar error
    • style(pre-commit): autofix
    • chore: add runtime error when azimuth conversion failed
    • chore: change default pointcloud
    • chore: change function name
    • chore: move variables to structure
    • chore: add random seed
    • chore: rewrite get conversion function
    • chore: fix opencv fast atan2 function
    • chore: fix schema description

    * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

    • chore: move code to function for readability
    • chore: simplify code
    • chore: fix sentence, angle conversion
    • chore: add more invalid condition
    • chore: fix the string name to enum
    • chore: remove runtime error
    • chore: use optional for AngleConversion structure
    • chore: fix bug and clean code
    • chore: refactor the logic of calculating conversion
    • chore: refactor function in unit test
    • chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion
    • chore: improve normalize angle algorithm
    • chore: improve multiple_of_90_degrees logic
    • chore: add opencv license
    • style(pre-commit): autofix
    • chore: clean code
    • chore: fix sentence
    • style(pre-commit): autofix
    • chore: add 0 0 0 points in test case
    • chore: fix spell error

    * Update common/autoware_universe_utils/NOTICE Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

    • chore: use constexpr for threshold
    • chore: fix the path of license
    • chore: explanation for failures
    • chore: use throttle
    • chore: fix empty pointcloud function
    • refactor: change camel to snake case

    * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

    • style(pre-commit): autofix

    * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

    • refactor: refactor virtual function in base class
    • chore: fix test naming error
    • chore: fix clang error
    • chore: fix error
    • chore: fix clangd
    • chore: add runtime error if the setting is wrong
    • chore: clean code

    * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

    • style(pre-commit): autofix
    • chore: fix unit test for runtime error

    * Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

    • chore: fix offset_rad_threshold
    • chore: change pointer to reference
    • chore: snake_case for unit test
    • chore: fix refactor process twist and imu
    • chore: fix abs and return type of matrix to tf2
    • chore: fix grammar error
    • chore: fix readme description

    * chore: remove runtime error ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • fix(universe_utils): avoid test timeout (#8993) reduce number of polygons to be generated
  • fix(autoware_universe_utils): fix unmatchedSuppression (#8986) fix:unmatchedSuppression
  • refactor(universe_utils): eliminate dependence on Boost.Geometry (#8965)
    • add alt::Polygon2d -> Polygon2d conversion function
    • migrate to alt geometry
    • invert orientation of linked list
    • suppress cppcheck unusedFunction error

    * fix parameter to avoid confusion ---------

  • feat(autoware_universe_utils): reduce dependence on Boost.Geometry (#8592)
    • add find_farthest()
    • add simplify()
    • add envelope()
    • (WIP) add buffer()
    • add Polygon2d class
    • change input type of envelope()
    • disable convexity check until correct() supports non-convex polygons
    • add is_clockwise()
    • make correct() support non-convex polygons
    • fix test case

    * Revert "(WIP) add buffer()" This reverts commit 123b0ba85ede5e558431a4336038c14023d1bef1. ---------

  • refactor(universe_utils): remove raw pointers from the triangulation function (#8893)
  • fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678)
  • feat(universe_utils): add Triangulation (ear clipping) implementation for 2D concave polygon with/without holes (#8609)
    • added random_concave_polygon and triangulation
    • disable some test with GJK
    • pre-commit fix
    • fully fixed convexHull issue and styling fix
    • fix conflict
    • cleaning up the code
    • cleanup the code
    • cleanup the code
    • fix spelling
    • last cleanup
    • more spellcheck fix

    * more spellcheck fixes ---------Co-authored-by: Maxime CLEMENT <<maxime.clement@tier4.jp>>

  • refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (#8594)
    • move alternatives to separate files
    • style(pre-commit): autofix

    * include missing headers ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_universe_utils): fix unusedFunction (#8723) fix:unusedFunction
  • feat(universe_utils): add SAT implementation for 2D convex polygon collision check (#8239)
  • feat(autoware_universe_utils): add thread_id check to time_keeper (#8628) add thread_id check
  • fix(autoware_universe_utils): fix unusedFunction (#8521) fix: unusedFunction
  • feat(autoware_universe_utils): add LRU Cache (#8456)
  • fix(autoware_universe_utils): fix memory leak of time_keeper (#8425) fix bug of time_keeper
  • feat(autoware_universe_utils): reduce dependence on Boost.Geometry (#7778)
    • add within function
    • return nullopt as is
    • add disjoint function
    • add polygon-and-polygon version of intersect function
    • use intersect for disjoint
    • add test case for disjoint
    • checking intersection of edges is unnecessary
    • return nullopt when no intersection point found
    • add distance function
    • add coveredBy function
    • add point-polygon variant of distance function
    • add isAbove function
    • add divideBySegment function
    • add convexHull function
    • add correct function
    • add area function
    • change point type to tf2::Vector3
    • simplify correct function
    • push geometry types to namespace
    • match the behavior of Boost.Geometry
    • add test cases for benchmarking
    • add headers for convex_hull()
    • remove polygon-polygon intersect & disjoint function
    • add intersects function
    • add touches function
    • add disjoint function
    • minor fix
    • change name Polygon to CvxPolygon
    • change name CvxPolygon to ConvexPolygon
    • rename intersect function and restore the original
    • change function names to snake_case
    • early return
    • change point type from tf2::Vector3 to custom struct
    • style(pre-commit): autofix
    • use alt::Vector2d to represent point
    • convert from boost before time measurement
    • add header for std::move
    • avoid using long
    • convert from boost before time measurement
    • add point-segment variant of touches function
    • improve performance of point-polygon touches()
    • improve performance of area()
    • add note for class naming
    • improve performance of covered_by()
    • simplify within()
    • improve performance of covered_by()
    • improve performance of within()
    • use operator[] instead of at()
    • print point when covered_by() test failed
    • avoid using hypot()
    • improve performace of convex_hull()
    • remove divide_by_segment() function
    • fix test cases
    • improve performance of touches()
    • add test case for touches()
    • improve performance of touches()
    • change type alias PointList to Points2d
    • add & fix vector size assertions

    * define epsilon respectively ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • fix(autoware_universe_utils): fix constParameterReference (#8145)
    • fix:constParameterReference
    • fix:clang format
    • fix:constParameterReference

    * fix:clang format ---------

  • perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (#8174)
    • perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners
    • fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic
    • fix(autoware_ground_segmentation): add missing TF listener
    • feat(autoware_ground_segmentation): change to static TF buffer
    • refactor(autoware_pointcloud_preprocessor): move StaticTransformListener to universe utils
    • perf(autoware_universe_utils): skip redundant transform
    • fix(autoware_universe_utils): change checks order

    * doc(autoware_universe_utils): add docstring ---------

  • refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (#7443)
    • refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation.
    • use raw shared ptr in PollingPolicy::NEWEST
    • update
    • fix

    * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>> ---------Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>>

  • feat(universe_utils): add GJK implementation for 2D convex polygon collision check (#7853)
  • feat(autoware_universe_utils): add comment function to time_keeper (#7991)
    • update readme
    • refactoring
    • remove string reporter
    • fix readme.md
    • feat(autoware_universe_utils): add comment function to time_keeper
    • remove comment from scoped time track

    * modify readme ---------

  • chore(autoware_universe_utils): update document (#7907)
    • update readme
    • refactoring
    • remove string reporter
    • fix readme.md
    • change node name of example

    * update readme ---------

  • fix(autoware_universe_utils): fix constParameterReference (#7882)
    • fix: constParameterReference

    * fix: constParameterReference ---------

  • feat(autoware_universe_utils): add TimeKeeper to track function's processing time (#7754)
  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • Contributors: Amadeusz Szymko, Giovanni Muhammad Raditya, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Nagi70, Takayuki Murooka, Yi-Hsiang Fang (Vivid), Yukinari Hisaki, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)

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