Merge branch 'main' into refactor/ground_segmentation

.github/CODEOWNERS

@@ -6,6 +6,7 @@ common/autoware_grid_map_utils/** [email protected]
 common/autoware_interpolation/** [email protected] [email protected]
 common/autoware_kalman_filter/** [email protected] [email protected] [email protected]
 common/autoware_motion_utils/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+common/autoware_object_recognition_utils/** [email protected] [email protected] [email protected]
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** [email protected]
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** [email protected]
 common/autoware_path_distance_calculator/** [email protected]
@@ -24,7 +25,6 @@ common/fake_test_node/** [email protected] [email protected] shumpei.wakabay
 common/global_parameter_loader/** [email protected]
 common/glog_component/** [email protected]
 common/goal_distance_calculator/** [email protected]
-common/object_recognition_utils/** [email protected] [email protected] [email protected]
 common/osqp_interface/** [email protected] [email protected] [email protected] [email protected]
 common/polar_grid/** [email protected]
 common/qp_interface/** [email protected] [email protected] [email protected] [email protected]

.github/workflows/build-and-test-differential.yaml

@@ -75,7 +75,7 @@ jobs:
 
   clang-tidy-differential:
     needs: build-and-test-differential
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
     steps:
       - name: Set PR fetch depth

.github/workflows/cancel-previous-workflows.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
         uses: styfle/[email protected]

.github/workflows/check-build-depends.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   check-build-depends:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false

.github/workflows/clang-tidy-pr-comments-manually.yaml

@@ -8,7 +8,7 @@ on:
         required: true
 jobs:
   clang-tidy-pr-comments-manually:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/clang-tidy-pr-comments.yaml

@@ -10,7 +10,7 @@ on:
 jobs:
   clang-tidy-pr-comments:
     if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/comment-on-pr.yaml

@@ -4,7 +4,7 @@ on:
 
 jobs:
   comment-on-pr:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     permissions:
       pull-requests: write
     steps:

.github/workflows/cppcheck-differential.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   cppcheck-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
       - name: Set PR fetch depth

.github/workflows/cppcheck-weekly.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   cppcheck-weekly:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
       - name: Checkout code

.github/workflows/dco.yaml

@@ -4,7 +4,7 @@ on:
   pull_request:
 jobs:
   dco:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
 

.github/workflows/delete-closed-pr-docs.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   delete-closed-pr-docs:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/deploy-docs.yaml

@@ -27,7 +27,7 @@ jobs:
   deploy-docs:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3

.github/workflows/github-release.yaml

@@ -15,7 +15,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name

.github/workflows/json-schema-check.yaml

@@ -6,7 +6,7 @@ on:
 
 jobs:
   check-if-relevant-files-changed:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     outputs:
       run-check: ${{ steps.paths_filter.outputs.json_or_yaml }}
     steps:
@@ -22,7 +22,7 @@ jobs:
   json-schema-check:
     needs: check-if-relevant-files-changed
     if: needs.check-if-relevant-files-changed.outputs.run-check == 'true'
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -33,7 +33,7 @@ jobs:
   no-relevant-changes:
     needs: check-if-relevant-files-changed
     if: needs.check-if-relevant-files-changed.outputs.run-check == 'false'
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Dummy step
         run: echo "No relevant changes, passing check"

.github/workflows/pr-agent.yaml

@@ -13,7 +13,7 @@ jobs:
   pr_agent_job:
     needs: prevent-no-label-execution-pr-agent
     if: ${{ needs.prevent-no-label-execution-pr-agent.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     permissions:
       issues: write
       pull-requests: write

.github/workflows/pr-labeler.yaml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   label:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/labeler@v4
         with:

.github/workflows/pre-commit-autoupdate.yaml

@@ -14,7 +14,7 @@ jobs:
   pre-commit-autoupdate:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/pre-commit-optional.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/pre-commit.yaml

@@ -6,7 +6,7 @@ on:
 jobs:
   pre-commit:
     if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/spell-check-daily.yaml

@@ -7,7 +7,7 @@ on:
 
 jobs:
   spell-check-daily:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/spell-check-differential.yaml

@@ -5,7 +5,7 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4

.github/workflows/sync-files.yaml

@@ -14,7 +14,7 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

.github/workflows/update-codeowners-from-packages.yaml

@@ -14,7 +14,7 @@ jobs:
   update-codeowners-from-packages:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token

common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_shift.hpp

@@ -0,0 +1,71 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_
+#define AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_
+
+namespace autoware::motion_utils
+{
+/**
+ * @brief Calculates the velocity required for shifting
+ * @param lateral lateral distance
+ * @param jerk lateral jerk
+ * @param longitudinal_distance longitudinal distance
+ * @return velocity
+ */
+double calc_feasible_velocity_from_jerk(
+  const double lateral, const double jerk, const double longitudinal_distance);
+
+/**
+ * @brief Calculates the lateral distance required for shifting
+ * @param longitudinal longitudinal distance
+ * @param jerk lateral jerk
+ * @param velocity velocity
+ * @return lateral distance
+ */
+double calc_lateral_dist_from_jerk(
+  const double longitudinal, const double jerk, const double velocity);
+
+/**
+ * @brief Calculates the lateral distance required for shifting
+ * @param lateral lateral distance
+ * @param jerk lateral jerk
+ * @param velocity velocity
+ * @return longitudinal distance
+ */
+double calc_longitudinal_dist_from_jerk(
+  const double lateral, const double jerk, const double velocity);
+
+/**
+ * @brief Calculates the total time required for shifting
+ * @param lateral lateral distance
+ * @param jerk lateral jerk
+ * @param acc lateral acceleration
+ * @return time
+ */
+double calc_shift_time_from_jerk(const double lateral, const double jerk, const double acc);
+
+/**
+ * @brief Calculates the required jerk from lateral/longitudinal distance
+ * @param lateral lateral distance
+ * @param longitudinal longitudinal distance
+ * @param velocity velocity
+ * @return jerk
+ */
+double calc_jerk_from_lat_lon_distance(
+  const double lateral, const double longitudinal, const double velocity);
+
+}  // namespace autoware::motion_utils
+
+#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_SHIFT_HPP_