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Fix/remove linear algebra #1263
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hakuturu583
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May 24, 2024
common/math/geometry/include/geometry/vector3/inner_product.hpp
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common/math/geometry/include/geometry/vector3/internal_angle.hpp
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Co-authored-by: Masaya Kataoka <ms.kataoka@gmail.com>
Co-authored-by: Masaya Kataoka <ms.kataoka@gmail.com>
Co-authored-by: Masaya Kataoka <ms.kataoka@gmail.com>
hakuturu583
requested changes
May 31, 2024
hakuturu583
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Jun 3, 2024
common/math/geometry/include/geometry/quaternion/make_quaternion.hpp
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hakuturu583
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Jun 10, 2024
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bump patch
If this pull request merged, bump patch version of the scenario_simulator_v2
wait for regression test
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Description
Solving the problem of the same vector manipulation function being implemented in multiple locations.
Abstract
Fixes:
lenear_albebra
. Consequently, revised/geometry/vector3/operator.hpp
to support lenear_albebra-specific features.lenear_albebra
was interfering, so it was migrated to operator.hpp.getInternalAngle
andinnerProduct
functions inlenear_albebra
could not be used, so they were moved to/geometry/vector3/
and templated.lenear_albebra
was removed because it had the same functionality asnorm
.ScenarioSimulator
.Background
Issue: #1256
Details
These newly added files are templated versions of functions that were in
linear_algebra
. The functionality itself has not been changed.common/math/geometry/include/geometry/vector3/inner_product.hpp
common/math/geometry/include/geometry/vector3/internal_angle.hpp
common/math/geometry/include/geometry/vector3/vector3.hpp
In
common/math/geometry/include/geometry/vector3/is_like_vector3.hpp
, the following additions were made:w
is not included as an element.IsLikeVector3
to exclude Quaternions.IsLikeQuaternion
to detect Quaternions.In
common/math/geometry/include/geometry/vector3/operator.hpp
, the following changes were made:Point
type when overloading operators.Tests were modified to accommodate these changes. There is no change in the coverage rate.
To accommodate these changes, the following files were modified:
common/math/geometry/src/polygon/line_segment.cpp
common/math/geometry/src/spline/catmull_rom_spline.cpp
simulation/do_nothing_plugin/src/plugin.cpp
simulation/traffic_simulator/src/behavior/follow_trajectory.cpp
simulation/traffic_simulator/src/behavior/longitudinal_speed_planning.cpp
simulation/traffic_simulator/src/entity/entity_manager.cpp
simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
References
https://github.com/OUXT-Polaris/quaternion_operation/blob/2c0bf2a60c50262921f9f1858e474030a39560a0/src/quaternion_operation.cpp#L30-L50
https://github.com/tier4/sim_evaluation_tools/issues/294
Destructive Changes
N/A
Known Limitations
N/A