feat(trajectory_validator): rename trajectory safety filter to trajectory validator

planning/autoware_trajectory_safety_filter/CMakeLists.txt → planning/autoware_trajectory_validator/CMakeLists.txt

@@ -1,9 +1,9 @@
 cmake_minimum_required(VERSION 3.14)
-project(autoware_trajectory_safety_filter)
+project(autoware_trajectory_validator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(autoware_trajectory_safety_filter plugins.xml)
+pluginlib_export_plugin_description_file(autoware_trajectory_validator plugins.xml)
 
 generate_parameter_library(${PROJECT_NAME}_param
   param/parameter_struct.yaml
@@ -14,7 +14,7 @@ include_directories(
 )
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/trajectory_safety_filter_node.cpp
+  src/trajectory_validator_node.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -26,19 +26,19 @@ target_compile_options(${PROJECT_NAME} PUBLIC
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "autoware::trajectory_safety_filter::TrajectorySafetyFilter"
+  PLUGIN "autoware::trajectory_validator::TrajectoryValidator"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
-ament_auto_add_library(autoware_trajectory_safety_filter_plugins SHARED
-  src/filters/out_of_lane_filter.cpp
-  src/filters/collision_filter.cpp
-  src/filters/uncrossable_boundary_departure_filter.cpp
-  src/filters/vehicle_constraint_filter.cpp
-  src/filters/collision_check_filter.cpp
+ament_auto_add_library(autoware_trajectory_validator_plugins SHARED
+  src/filters/safety/out_of_lane_filter.cpp
+  src/filters/safety/collision_filter.cpp
+  src/filters/safety/uncrossable_boundary_departure_filter.cpp
+  src/filters/safety/vehicle_constraint_filter.cpp
+  src/filters/safety/collision_check_filter.cpp
 )
 
-target_link_libraries(autoware_trajectory_safety_filter_plugins
+target_link_libraries(autoware_trajectory_validator_plugins
   ${PROJECT_NAME}
 )
 
@@ -54,7 +54,7 @@ if(BUILD_TESTING)
     test/plugins/test_vehicle_constraint_filter.cpp
   )
   target_link_libraries(test_vehicle_constraint_filter
-    autoware_trajectory_safety_filter_plugins
+    autoware_trajectory_validator_plugins
   )
 
   ament_add_ros_isolated_gtest(test_constant_curvature
@@ -80,31 +80,31 @@ if(BUILD_TESTING)
   # ==========================================
   # 2. Dummy Plugin (Test Utility)
   # ==========================================
-  pluginlib_export_plugin_description_file(autoware_trajectory_safety_filter
+  pluginlib_export_plugin_description_file(autoware_trajectory_validator
     test/dummy_plugin/dummy_plugins.xml
   )
 
-  ament_auto_add_library(dummy_safety_filter_plugin SHARED
-    test/dummy_plugin/dummy_safety_filter_plugin.cpp
+  ament_auto_add_library(dummy_validator_plugin SHARED
+    test/dummy_plugin/dummy_validator_plugin.cpp
   )
 
-  target_link_libraries(dummy_safety_filter_plugin
+  target_link_libraries(dummy_validator_plugin
     ${PROJECT_NAME}
   )
 
   # ==========================================
   # 3. Node Integration/Unit Tests
   # ==========================================
-  ament_add_ros_isolated_gtest(test_trajectory_safety_filter_node
-    test/node/test_trajectory_safety_filter_node.cpp
+  ament_add_ros_isolated_gtest(test_trajectory_validator_node
+    test/node/test_trajectory_validator_node.cpp
   )
 
-  target_link_libraries(test_trajectory_safety_filter_node
+  target_link_libraries(test_trajectory_validator_node
     ${PROJECT_NAME}
-    dummy_safety_filter_plugin
+    dummy_validator_plugin
   )
 
-  ament_target_dependencies(test_trajectory_safety_filter_node
+  ament_target_dependencies(test_trajectory_validator_node
     autoware_test_utils
   )
 endif()

planning/autoware_trajectory_validator/config/trajectory_validator.param.yaml

@@ -0,0 +1,38 @@
+/**:
+  ros__parameters:
+    filter_names:
+      [
+        "autoware::trajectory_validator::plugin::OutOfLaneFilter",
+        "autoware::trajectory_validator::plugin::CollisionFilter",
+        "autoware::trajectory_validator::plugin::CollisionCheckFilter",
+        "autoware::trajectory_validator::plugin::UncrossableBoundaryDepartureFilter",
+        "autoware::trajectory_validator::plugin::VehicleConstraintFilter",
+      ]
+    # available filters:
+    #  "autoware::trajectory_validator::plugin::OutOfLaneFilter"
+    #  "autoware::trajectory_validator::plugin::CollisionFilter"
+    #  "autoware::trajectory_validator::plugin::CollisionCheckFilter"
+    #  "autoware::trajectory_validator::plugin::UncrossableBoundaryDepartureFilter"
+    #  "autoware::trajectory_validator::plugin::VehicleConstraintFilter"
+
+    out_of_lane:
+      time: 2.0
+      min_value: 0.0
+
+    collision:
+      time: 3.0
+      min_value: 2.0
+
+    collision_check:
+      pet_collision:
+        ego_braking_delay: 0.4
+        ego_assumed_acceleration: -5.0
+        collision_time_threshold: 0.0
+
+
+    vehicle_constraint:
+      max_speed: 16.7 # m/s
+      max_acceleration: 5.0 # m/s^2
+      max_deceleration: 5.0 # m/s^2 (positive but represents deceleration)
+      max_steering_angle: 0.8 # rad
+      max_steering_rate: 0.3 # rad/s

planning/autoware_trajectory_safety_filter/include/autoware/trajectory_safety_filter/filter_context.hpp → planning/autoware_trajectory_validator/include/autoware/trajectory_validator/filter_context.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTER_CONTEXT_HPP_
-#define AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTER_CONTEXT_HPP_
+#ifndef AUTOWARE__TRAJECTORY_VALIDATOR__FILTER_CONTEXT_HPP_
+#define AUTOWARE__TRAJECTORY_VALIDATOR__FILTER_CONTEXT_HPP_
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
@@ -29,7 +29,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace autoware::trajectory_safety_filter
+namespace autoware::trajectory_validator
 {
 
 // Base context that all filters can access
@@ -40,6 +40,6 @@ struct FilterContext
   std::shared_ptr<lanelet::LaneletMap> lanelet_map;
   autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr predicted_objects;
 };
-}  // namespace autoware::trajectory_safety_filter
+}  // namespace autoware::trajectory_validator
 
-#endif  // AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTER_CONTEXT_HPP_
+#endif  // AUTOWARE__TRAJECTORY_VALIDATOR__FILTER_CONTEXT_HPP_

planning/autoware_trajectory_safety_filter/include/autoware/trajectory_safety_filter/filters/collision_check_filter.hpp → planning/autoware_trajectory_validator/include/autoware/trajectory_validator/filters/safety/collision_check_filter.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__COLLISION_CHECK_FILTER_HPP_
-#define AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__COLLISION_CHECK_FILTER_HPP_
+#ifndef AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__COLLISION_CHECK_FILTER_HPP_
+#define AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__COLLISION_CHECK_FILTER_HPP_
 
-#include "autoware/trajectory_safety_filter/safety_filter_interface.hpp"
+#include "autoware/trajectory_validator/validator_interface.hpp"
 
 #include <autoware/motion_utils/trajectory/interpolation.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
@@ -33,7 +33,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace autoware::trajectory_safety_filter::plugin
+namespace autoware::trajectory_validator::plugin
 {
 using autoware_utils_geometry::Box2d;
 using autoware_utils_geometry::MultiPoint2d;
@@ -106,7 +106,7 @@
 private:
   size_t getIndex(const double t) const
   {
     const auto it = std::lower_bound(times_.begin(), times_.end(), t);
 
     if (it == times_.begin()) return 0;
     if (it == times_.end()) return times_.size() - 1;
@@ -130,10 +130,10 @@
   return pose_trajectory;
 }
 
-class CollisionCheckFilter : public SafetyFilterInterface
+class CollisionCheckFilter : public ValidatorInterface
 {
 public:
-  CollisionCheckFilter() : SafetyFilterInterface("CollisionCheckFilter") {}
+  CollisionCheckFilter() : ValidatorInterface("CollisionCheckFilter") {}
 
   tl::expected<void, std::string> is_feasible(
     const TrajectoryPoints & traj_points, const FilterContext & context) override;
@@ -148,9 +148,9 @@
     double ego_braking_delay{0.0};
     double ego_assumed_acceleration{0.0};  // used for code test, not used in actual collision check
     double collision_time_threshold{1.0};  // time threshold for PET collision check
   } pet_collision_params_;
 };
 
-}  // namespace autoware::trajectory_safety_filter::plugin
+}  // namespace autoware::trajectory_validator::plugin
 
-#endif  // AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__COLLISION_CHECK_FILTER_HPP_
+#endif  // AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__COLLISION_CHECK_FILTER_HPP_

planning/autoware_trajectory_safety_filter/include/autoware/trajectory_safety_filter/filters/collision_filter.hpp → planning/autoware_trajectory_validator/include/autoware/trajectory_validator/filters/safety/collision_filter.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__COLLISION_FILTER_HPP_
-#define AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__COLLISION_FILTER_HPP_
+#ifndef AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__COLLISION_FILTER_HPP_
+#define AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__COLLISION_FILTER_HPP_
 
-#include "autoware/trajectory_safety_filter/safety_filter_interface.hpp"
+#include "autoware/trajectory_validator/validator_interface.hpp"
 
 #include <rclcpp/duration.hpp>
 
@@ -26,7 +26,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::trajectory_safety_filter::plugin
+namespace autoware::trajectory_validator::plugin
 {
 
 // Parameters for CollisionFilter
@@ -36,10 +36,10 @@ struct CollisionParams
   double min_ttc = 2.0;         // seconds - minimum acceptable time to collision
 };
 
-class CollisionFilter : public SafetyFilterInterface
+class CollisionFilter : public ValidatorInterface
 {
 public:
-  CollisionFilter() : SafetyFilterInterface("CollisionFilter") {}
+  CollisionFilter() : ValidatorInterface("CollisionFilter") {}
 
   tl::expected<void, std::string> is_feasible(
     const TrajectoryPoints & traj_points, const FilterContext & context) final;
@@ -71,6 +71,6 @@ class CollisionFilter : public SafetyFilterInterface
     double time_from_start) const;
 };
 
-}  // namespace autoware::trajectory_safety_filter::plugin
+}  // namespace autoware::trajectory_validator::plugin
 
-#endif  // AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__COLLISION_FILTER_HPP_
+#endif  // AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__COLLISION_FILTER_HPP_

planning/autoware_trajectory_safety_filter/include/autoware/trajectory_safety_filter/filters/out_of_lane_filter.hpp → planning/autoware_trajectory_validator/include/autoware/trajectory_validator/filters/safety/out_of_lane_filter.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__OUT_OF_LANE_FILTER_HPP_
-#define AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__OUT_OF_LANE_FILTER_HPP_
+#ifndef AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__OUT_OF_LANE_FILTER_HPP_
+#define AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__OUT_OF_LANE_FILTER_HPP_
 
-#include "autoware/trajectory_safety_filter/safety_filter_interface.hpp"
+#include "autoware/trajectory_validator/validator_interface.hpp"
 
 #include <autoware/boundary_departure_checker/boundary_departure_checker.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
@@ -28,7 +28,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware::trajectory_safety_filter::plugin
+namespace autoware::trajectory_validator::plugin
 {
 
 // Parameters for OutOfLaneFilter
@@ -38,7 +38,7 @@ struct OutOfLaneParams
   double min_value = 0.0;       // meters - minimum distance to lane boundary
 };
 
-class OutOfLaneFilter : public SafetyFilterInterface
+class OutOfLaneFilter : public ValidatorInterface
 {
 public:
   OutOfLaneFilter();
@@ -55,6 +55,6 @@ class OutOfLaneFilter : public SafetyFilterInterface
   std::unique_ptr<autoware::boundary_departure_checker::BoundaryDepartureChecker>
     boundary_departure_checker_;
 };
-}  // namespace autoware::trajectory_safety_filter::plugin
+}  // namespace autoware::trajectory_validator::plugin
 
-#endif  // AUTOWARE__TRAJECTORY_SAFETY_FILTER__FILTERS__OUT_OF_LANE_FILTER_HPP_
+#endif  // AUTOWARE__TRAJECTORY_VALIDATOR__FILTERS__SAFETY__OUT_OF_LANE_FILTER_HPP_