Merge pull request #399 from tier4/sync-upstream

chore: sync upstream

common/tier4_planning_rviz_plugin/src/path/display.cpp

@@ -33,9 +33,8 @@ void AutowarePathWithLaneIdDisplay::preProcessMessageDetail()
         VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
-      RCLCPP_WARN_THROTTLE(
-        rviz_ros_node_.lock()->get_raw_node()->get_logger(),
-        *rviz_ros_node_.lock()->get_raw_node()->get_clock(), 5000, "Failed to get vehicle_info: %s",
+      RCLCPP_WARN_ONCE(
+        rviz_ros_node_.lock()->get_raw_node()->get_logger(), "Failed to get vehicle_info: %s",
         e.what());
     }
   }
@@ -113,9 +112,8 @@ void AutowarePathDisplay::preProcessMessageDetail()
         VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
-      RCLCPP_WARN_THROTTLE(
-        rviz_ros_node_.lock()->get_raw_node()->get_logger(),
-        *rviz_ros_node_.lock()->get_raw_node()->get_clock(), 5000, "Failed to get vehicle_info: %s",
+      RCLCPP_WARN_ONCE(
+        rviz_ros_node_.lock()->get_raw_node()->get_logger(), "Failed to get vehicle_info: %s",
         e.what());
     }
   }
@@ -131,9 +129,8 @@ void AutowareTrajectoryDisplay::preProcessMessageDetail()
         VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
-      RCLCPP_WARN_THROTTLE(
-        rviz_ros_node_.lock()->get_raw_node()->get_logger(),
-        *rviz_ros_node_.lock()->get_raw_node()->get_clock(), 5000, "Failed to get vehicle_info: %s",
+      RCLCPP_WARN_ONCE(
+        rviz_ros_node_.lock()->get_raw_node()->get_logger(), "Failed to get vehicle_info: %s",
         e.what());
     }
   }

launch/tier4_planning_launch/launch/planning.launch.xml

@@ -21,6 +21,7 @@
   <!-- behavior path planner -->
   <arg name="side_shift_param_path"/>
   <arg name="avoidance_param_path"/>
+  <arg name="dynamic_avoidance_param_path"/>
   <arg name="lane_change_param_path"/>
   <arg name="goal_planner_param_path"/>
   <arg name="pull_out_param_path"/>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -49,6 +49,8 @@ def launch_setup(context, *args, **kwargs):
         avoidance_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("avoidance_by_lc_param_path").perform(context), "r") as f:
         avoidance_by_lc_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+    with open(LaunchConfiguration("dynamic_avoidance_param_path").perform(context), "r") as f:
+        dynamic_avoidance_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("lane_change_param_path").perform(context), "r") as f:
         lane_change_param = yaml.safe_load(f)["/**"]["ros__parameters"]
     with open(LaunchConfiguration("goal_planner_param_path").perform(context), "r") as f:
@@ -90,6 +92,7 @@ def launch_setup(context, *args, **kwargs):
             side_shift_param,
             avoidance_param,
             avoidance_by_lc_param,
+            dynamic_avoidance_param,
             lane_change_param,
             goal_planner_param,
             pull_out_param,

perception/lidar_centerpoint/README.md

@@ -56,8 +56,8 @@ You can download the onnx format of trained models by clicking on the links belo
 - Centerpoint : [pts_voxel_encoder_centerpoint.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx), [pts_backbone_neck_head_centerpoint.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx)
 - Centerpoint tiny: [pts_voxel_encoder_centerpoint_tiny.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx), [pts_backbone_neck_head_centerpoint_tiny.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx)
 
-`Centerpoint` was trained in `nuScenes` (~110k lidar frames) [8] and TIER IV's internal database (~11k lidar frames) for 60 epochs.
-`Centerpoint tiny` was trained in `Argoverse 2` (~28k lidar frames) [9] and TIER IV's internal database (~11k lidar frames) for 20 epochs.
+`Centerpoint` was trained in `nuScenes` (~28k lidar frames) [8] and TIER IV's internal database (~11k lidar frames) for 60 epochs.
+`Centerpoint tiny` was trained in `Argoverse 2` (~110k lidar frames) [9] and TIER IV's internal database (~11k lidar frames) for 20 epochs.
 
 ## Standalone inference and visualization
 

perception/radar_tracks_msgs_converter/README.md

@@ -1,6 +1,6 @@
 # radar_tracks_msgs_converter
 
-This package convert from [radar_msgs/msg/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) into [autoware_auto_perception_msgs/msg/TrackedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/TrackedObject.idl).
+This package convert from [radar_msgs/msg/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) into [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) and [autoware_auto_perception_msgs/msg/TrackedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/TrackedObject.idl).
 
 - Calculation cost is O(n).
   - n: The number of radar objects
@@ -13,7 +13,8 @@ This package convert from [radar_msgs/msg/RadarTracks](https://github.com/ros-pe
   - `~/input/radar_objects` (radar_msgs/msg/RadarTracks.msg): Input radar topic
   - `~/input/odometry` (nav_msgs/msg/Odometry.msg): Ego vehicle odometry topic
 - Output
-  - `~/output/radar_objects` (autoware_auto_perception_msgs/msg/TrackedObject.msg): The topic converted to Autoware's message
+  - `~/output/radar_detected_objects` (autoware_auto_perception_msgs/msg/DetectedObject.idl): The topic converted to Autoware's message
+  - `~/output/radar_tracked_objects` (autoware_auto_perception_msgs/msg/TrackedObject.idl): The topic converted to Autoware's message
 
 ### Parameters
 

perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp

@@ -18,6 +18,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
+#include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"
 #include "autoware_auto_perception_msgs/msg/shape.hpp"
 #include "autoware_auto_perception_msgs/msg/tracked_object.hpp"
@@ -33,6 +34,9 @@
 
 namespace radar_tracks_msgs_converter
 {
+using autoware_auto_perception_msgs::msg::DetectedObject;
+using autoware_auto_perception_msgs::msg::DetectedObjectKinematics;
+using autoware_auto_perception_msgs::msg::DetectedObjects;
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::Shape;
 using autoware_auto_perception_msgs::msg::TrackedObject;
@@ -69,7 +73,8 @@ class RadarTracksMsgsConverterNode : public rclcpp::Node
   geometry_msgs::msg::TransformStamped::ConstSharedPtr transform_;
 
   // Publisher
-  rclcpp::Publisher<TrackedObjects>::SharedPtr pub_radar_{};
+  rclcpp::Publisher<TrackedObjects>::SharedPtr pub_tracked_objects_{};
+  rclcpp::Publisher<DetectedObjects>::SharedPtr pub_detected_objects_{};
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_{};
@@ -86,7 +91,9 @@ class RadarTracksMsgsConverterNode : public rclcpp::Node
   NodeParam node_param_{};
 
   // Core
+  geometry_msgs::msg::PoseWithCovariance convertPoseWithCovariance();
   TrackedObjects convertRadarTrackToTrackedObjects();
+  DetectedObjects convertRadarTrackToDetectedObjects();
   uint8_t convertClassification(const uint16_t classification);
 };
 

perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml

@@ -1,14 +1,16 @@
 <launch>
   <arg name="input/radar_objects" default="input/radar_objects"/>
   <arg name="input/odometry" default="/localization/kinematic_state"/>
-  <arg name="output/radar_objects" default="output/radar_objects"/>
+  <arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
+  <arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
   <arg name="update_rate_hz" default="20.0"/>
   <arg name="use_twist_compensation" default="false"/>
 
   <node pkg="radar_tracks_msgs_converter" exec="radar_tracks_msgs_converter_node" name="radar_tracks_msgs_converter" output="screen">
     <remap from="~/input/radar_objects" to="$(var input/radar_objects)"/>
     <remap from="~/input/odometry" to="$(var input/odometry)"/>
-    <remap from="~/output/radar_objects" to="$(var output/radar_objects)"/>
+    <remap from="~/output/radar_detected_objects" to="$(var output/radar_detected_objects)"/>
+    <remap from="~/output/radar_tracked_objects" to="$(var output/radar_tracked_objects)"/>
     <param name="update_rate_hz" value="$(var update_rate_hz)"/>
     <param name="use_twist_compensation" value="$(var use_twist_compensation)"/>
   </node>

perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp

@@ -88,7 +88,8 @@ RadarTracksMsgsConverterNode::RadarTracksMsgsConverterNode(const rclcpp::NodeOpt
   transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
 
   // Publisher
-  pub_radar_ = create_publisher<TrackedObjects>("~/output/radar_objects", 1);
+  pub_tracked_objects_ = create_publisher<TrackedObjects>("~/output/radar_tracked_objects", 1);
+  pub_detected_objects_ = create_publisher<DetectedObjects>("~/output/radar_detected_objects", 1);
 
   // Timer
   const auto update_period_ns = rclcpp::Rate(node_param_.update_rate_hz).period();
@@ -152,11 +153,99 @@ void RadarTracksMsgsConverterNode::onTimer()
     node_param_.new_frame_id, header.frame_id, header.stamp, rclcpp::Duration::from_seconds(0.01));
 
   TrackedObjects tracked_objects = convertRadarTrackToTrackedObjects();
+  DetectedObjects detected_objects = convertRadarTrackToDetectedObjects();
   if (!tracked_objects.objects.empty()) {
-    pub_radar_->publish(tracked_objects);
+    pub_tracked_objects_->publish(tracked_objects);
+    pub_detected_objects_->publish(detected_objects);
   }
 }
 
+DetectedObjects RadarTracksMsgsConverterNode::convertRadarTrackToDetectedObjects()
+{
+  DetectedObjects detected_objects;
+  detected_objects.header = radar_data_->header;
+  detected_objects.header.frame_id = node_param_.new_frame_id;
+  using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using RADAR_IDX = tier4_autoware_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
+
+  for (auto & radar_track : radar_data_->tracks) {
+    DetectedObject detected_object;
+
+    detected_object.existence_probability = 1.0;
+
+    detected_object.shape.type = Shape::BOUNDING_BOX;
+    detected_object.shape.dimensions = radar_track.size;
+
+    // kinematics
+    DetectedObjectKinematics kinematics;
+    kinematics.has_twist = true;
+    kinematics.has_twist_covariance = true;
+
+    // convert by tf
+    geometry_msgs::msg::PoseStamped radar_pose_stamped{};
+    radar_pose_stamped.pose.position = radar_track.position;
+    geometry_msgs::msg::PoseStamped transformed_pose_stamped{};
+    tf2::doTransform(radar_pose_stamped, transformed_pose_stamped, *transform_);
+    kinematics.pose_with_covariance.pose = transformed_pose_stamped.pose;
+
+    {
+      auto & pose_cov = kinematics.pose_with_covariance.covariance;
+      auto & radar_position_cov = radar_track.position_covariance;
+      pose_cov[POSE_IDX::X_X] = radar_position_cov[RADAR_IDX::X_X];
+      pose_cov[POSE_IDX::X_Y] = radar_position_cov[RADAR_IDX::X_Y];
+      pose_cov[POSE_IDX::X_Z] = radar_position_cov[RADAR_IDX::X_Z];
+      pose_cov[POSE_IDX::Y_X] = radar_position_cov[RADAR_IDX::X_Y];
+      pose_cov[POSE_IDX::Y_Y] = radar_position_cov[RADAR_IDX::Y_Y];
+      pose_cov[POSE_IDX::Y_Z] = radar_position_cov[RADAR_IDX::Y_Z];
+      pose_cov[POSE_IDX::Z_X] = radar_position_cov[RADAR_IDX::X_Z];
+      pose_cov[POSE_IDX::Z_Y] = radar_position_cov[RADAR_IDX::Y_Z];
+      pose_cov[POSE_IDX::Z_Z] = radar_position_cov[RADAR_IDX::Z_Z];
+    }
+
+    // convert by tf
+    geometry_msgs::msg::Vector3Stamped radar_velocity_stamped{};
+    radar_velocity_stamped.vector = radar_track.velocity;
+    geometry_msgs::msg::Vector3Stamped transformed_vector3_stamped{};
+    tf2::doTransform(radar_velocity_stamped, transformed_vector3_stamped, *transform_);
+    kinematics.twist_with_covariance.twist.linear = transformed_vector3_stamped.vector;
+
+    // twist compensation
+    if (node_param_.use_twist_compensation) {
+      if (odometry_data_) {
+        kinematics.twist_with_covariance.twist.linear.x += odometry_data_->twist.twist.linear.x;
+        kinematics.twist_with_covariance.twist.linear.y += odometry_data_->twist.twist.linear.y;
+        kinematics.twist_with_covariance.twist.linear.z += odometry_data_->twist.twist.linear.z;
+      } else {
+        RCLCPP_INFO(get_logger(), "Odometry data is not coming");
+      }
+    }
+
+    {
+      auto & twist_cov = kinematics.twist_with_covariance.covariance;
+      auto & radar_vel_cov = radar_track.velocity_covariance;
+      twist_cov[POSE_IDX::X_X] = radar_vel_cov[RADAR_IDX::X_X];
+      twist_cov[POSE_IDX::X_Y] = radar_vel_cov[RADAR_IDX::X_Y];
+      twist_cov[POSE_IDX::X_Z] = radar_vel_cov[RADAR_IDX::X_Z];
+      twist_cov[POSE_IDX::Y_X] = radar_vel_cov[RADAR_IDX::X_Y];
+      twist_cov[POSE_IDX::Y_Y] = radar_vel_cov[RADAR_IDX::Y_Y];
+      twist_cov[POSE_IDX::Y_Z] = radar_vel_cov[RADAR_IDX::Y_Z];
+      twist_cov[POSE_IDX::Z_X] = radar_vel_cov[RADAR_IDX::X_Z];
+      twist_cov[POSE_IDX::Z_Y] = radar_vel_cov[RADAR_IDX::Y_Z];
+      twist_cov[POSE_IDX::Z_Z] = radar_vel_cov[RADAR_IDX::Z_Z];
+    }
+    detected_object.kinematics = kinematics;
+
+    // classification
+    ObjectClassification classification;
+    classification.probability = 1.0;
+    classification.label = convertClassification(radar_track.classification);
+    detected_object.classification.emplace_back(classification);
+
+    detected_objects.objects.emplace_back(detected_object);
+  }
+  return detected_objects;
+}
+
 TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
 {
   TrackedObjects tracked_objects;

planning/behavior_path_planner/CMakeLists.txt

@@ -15,6 +15,7 @@ set(common_src
   src/scene_module/scene_module_visitor.cpp
   src/scene_module/avoidance/avoidance_module.cpp
   src/scene_module/avoidance_by_lc/module.cpp
+  src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
   src/scene_module/pull_out/pull_out_module.cpp
   src/scene_module/goal_planner/goal_planner_module.cpp
   src/scene_module/side_shift/side_shift_module.cpp
@@ -66,6 +67,7 @@ else()
     src/planner_manager.cpp
     src/scene_module/avoidance/manager.cpp
     src/scene_module/avoidance_by_lc/manager.cpp
+    src/scene_module/dynamic_avoidance/manager.cpp
     src/scene_module/pull_out/manager.cpp
     src/scene_module/goal_planner/manager.cpp
     src/scene_module/side_shift/manager.cpp

planning/behavior_path_planner/config/dynamic_avoidance/dynamic_avoidance.param.yaml

@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+    dynamic_avoidance:
+      # avoidance is performed for the object type with true
+      target_object:
+        car: true
+        truck: true
+        bus: true
+        trailer: true
+        unknown: false
+        bicycle: false
+        motorcycle: true
+        pedestrian: false
+
+        min_obstacle_vel: 1.0 # [m/s]
+
+      drivable_area_generation:
+        lat_offset_from_obstacle: 0.8 # [m]
+        time_to_avoid: 5.0 # [s]
+        max_lat_offset_to_avoid: 1.0 # [m]

planning/behavior_path_planner/config/scene_module_manager.param.yaml

@@ -65,3 +65,10 @@
       enable_simultaneous_execution_as_candidate_module: false
       priority: 3
       max_module_size: 1
+
+    dynamic_avoidance:
+      enable_module: false
+      enable_simultaneous_execution_as_approved_module: true
+      enable_simultaneous_execution_as_candidate_module: true
+      priority: 7
+      max_module_size: 1

planning/behavior_path_planner/docs/behavior_path_planner_dynamic_avoidance_design.md

@@ -0,0 +1,22 @@
+# Dynamic avoidance design
+
+## Purpose / Role
+
+This is a module designed for avoiding obstacles which are running.
+Static obstacles such as parked vehicles are dealt with by the avoidance module.
+
+This module is under development.
+In the current implementation, the dynamic obstacles to avoid is extracted from the drivable area.
+Then the motion planner, in detail obstacle_avoidance_planner, will generate an avoiding trajectory.
+
+### Parameters
+
+| Name                                              | Unit  | Type   | Description                             | Default value |
+| :------------------------------------------------ | :---- | :----- | :-------------------------------------- | :------------ |
+| target_object.car                                 | [-]   | bool   | The flag whether to avoid cars or not   | true          |
+| target_object.truck                               | [-]   | bool   | The flag whether to avoid trucks or not | true          |
+| ...                                               | [-]   | bool   | ...                                     | ...           |
+| target_object.min_obstacle_vel                    | [m/s] | double | Minimum obstacle velocity to avoid      | 1.0           |
+| drivable_area_generation.lat_offset_from_obstacle | [m]   | double | Lateral offset to avoid from obstacles  | 0.8           |
+| drivable_area_generation.time_to_avoid            | [s]   | double | Elapsed time for avoiding an obstacle   | 5.0           |
+| drivable_area_generation.max_lat_offset_to_avoid  | [m]   | double | Maximum lateral offset to avoid         | 0.5           |

planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp

@@ -21,6 +21,7 @@
 #ifdef USE_OLD_ARCHITECTURE
 #include "behavior_path_planner/behavior_tree_manager.hpp"
 #include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp"
+#include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp"
 #include "behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp"
 #include "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp"
 #include "behavior_path_planner/scene_module/pull_out/pull_out_module.hpp"
@@ -29,6 +30,7 @@
 #include "behavior_path_planner/planner_manager.hpp"
 #include "behavior_path_planner/scene_module/avoidance/manager.hpp"
 #include "behavior_path_planner/scene_module/avoidance_by_lc/manager.hpp"
+#include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
 #include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
 #include "behavior_path_planner/scene_module/lane_change/manager.hpp"
 #include "behavior_path_planner/scene_module/pull_out/manager.hpp"
@@ -74,6 +76,7 @@ namespace behavior_path_planner
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_auto_mapping_msgs::msg::HADMapBin;
+using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::Path;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
@@ -148,6 +151,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   // parameters
   std::shared_ptr<AvoidanceParameters> avoidance_param_ptr_;
   std::shared_ptr<AvoidanceByLCParameters> avoidance_by_lc_param_ptr_;
+  std::shared_ptr<DynamicAvoidanceParameters> dynamic_avoidance_param_ptr_;
   std::shared_ptr<SideShiftParameters> side_shift_param_ptr_;
   std::shared_ptr<LaneChangeParameters> lane_change_param_ptr_;
   std::shared_ptr<PullOutParameters> pull_out_param_ptr_;
@@ -160,6 +164,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
 #endif
 
   AvoidanceParameters getAvoidanceParam();
+  DynamicAvoidanceParameters getDynamicAvoidanceParam();
   LaneChangeParameters getLaneChangeParam();
   SideShiftParameters getSideShiftParam();
   GoalPlannerParameters getGoalPlannerParam();

planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp

@@ -43,6 +43,7 @@
 namespace behavior_path_planner
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
+using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;

planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp

@@ -35,6 +35,7 @@ struct BehaviorPathPlannerParameters
 
   ModuleConfigParameters config_avoidance;
   ModuleConfigParameters config_avoidance_by_lc;
+  ModuleConfigParameters config_dynamic_avoidance;
   ModuleConfigParameters config_pull_out;
   ModuleConfigParameters config_goal_planner;
   ModuleConfigParameters config_side_shift;