[pull] main from autowarefoundation:main

.github/CODEOWNERS

@@ -45,12 +45,12 @@ common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/
 common/time_utils/** christopherj.ho@gmail.com @autowarefoundation/autoware-global-codeowners
 common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners
-control/control_performance_analysis/** ali.boyali@tier4.jp berkay@leodrive.ai @autowarefoundation/autoware-global-codeowners
-control/external_cmd_selector/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
-control/joy_controller/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
+control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+control/external_cmd_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+control/joy_controller/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/lane_departure_checker/** kyoichi.sugahara@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
-control/obstacle_collision_checker/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
+control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/pid_longitudinal_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 control/pure_pursuit/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -79,6 +79,7 @@ localization/pose2twist/** yamato.ando@tier4.jp @autowarefoundation/autoware-glo
 localization/pose_initializer/** isamu.takagi@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
 localization/stop_filter/** koji.minoda@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
 localization/twist2accel/** koji.minoda@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
+map/map_height_fitter/** isamu.takagi@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
 map/map_loader/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners
 map/map_tf_generator/** azumi.suzuki@tier4.jp @autowarefoundation/autoware-global-codeowners
 map/util/lanelet2_map_preprocessor/** ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -120,20 +121,19 @@ planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hir
 planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/mission_planner/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
-planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/obstacle_cruise_planner/** takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/obstacle_stop_planner/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/planning_debug_tools/** taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
-planning/planning_error_monitor/** yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/planning_evaluator/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/planning_validator/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/rtc_auto_mode_manager/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/rtc_interface/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/rtc_replayer/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
-planning/scenario_selector/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/scenario_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/static_centerline_optimizer/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/surround_obstacle_checker/** satoshi.ota@tier4.jp @autowarefoundation/autoware-global-codeowners
 sensing/geo_pos_conv/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -157,7 +157,7 @@ system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake
 system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
 system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
 system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
-system/dummy_diag_publisher/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
+system/dummy_diag_publisher/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
 system/dummy_infrastructure/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
 system/emergency_handler/** kenji.miyake@tier4.jp makoto.kurihara@tier4.jp @autowarefoundation/autoware-global-codeowners
 system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp @autowarefoundation/autoware-global-codeowners

common/autoware_auto_common/include/helper_functions/message_adapters.hpp

@@ -34,7 +34,7 @@ namespace message_field_adapters
 /// Using alias for Time message
 using TimeStamp = builtin_interfaces::msg::Time;
 
-/// \brief Helper class to check existance of header file in compile time:
+/// \brief Helper class to check existence of header file in compile time:
 /// https://stackoverflow.com/a/16000226/2325407
 template <typename T, typename = nullptr_t>
 struct HasHeader : std::false_type

common/autoware_auto_common/test/test_template_utils.cpp

@@ -60,6 +60,7 @@ template <typename FooT, typename In1, typename In2>
 using false_bar_expression2 =
   decltype(std::declval<FooT>().bar(std::declval<In1>(), std::declval<const In2 &>()));
 
+// cspell: ignore asdasd
 // Signature mismatch:
 template <typename FooT, typename In1, typename In2, typename In3>
 using false_bar_expression3 = decltype(std::declval<FooT>().asdasd(

common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp

@@ -107,7 +107,7 @@ template <typename PointT>
 using Point4 = std::array<PointT, 4U>;
 
 /// \brief Helper struct for compile time introspection of array size from
-/// stackoverflow.com/questions/16866033/getting-the-number-of-elements-in-stdarray-at-compile-time
+///        Ref: https://stackoverflow.com/questions/16866033
 template <typename>
 struct array_size;
 template <typename T, std::size_t N>
@@ -132,7 +132,7 @@ finalize_box(const decltype(BoundingBox::corners) & corners, BoundingBox & box);
 
 /// \brief given support points and two orthogonal directions, compute corners of bounding box
 /// \tparam PointT Type of a point, must have float members x and y`
-/// \tparam IT An iterator dereferencable into PointT
+/// \tparam IT An iterator dereferenceable into PointT
 /// \param[out] corners Gets filled with corner points of bounding box
 /// \param[in] supports Iterators referring to support points of current bounding box
 ///                     e.g. bounding box is touching these points

common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp

@@ -18,6 +18,7 @@
 /// \brief This file implements 2D pca on a linked list of points to estimate an oriented
 ///        bounding box
 
+// cspell: ignore eigenbox, EIGENBOX
 #ifndef GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
 #define GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
 
@@ -50,11 +51,12 @@ struct Covariance2d
   std::size_t num_points;
 };  // struct Covariance2d
 
+// cspell: ignore Welford
 /// \brief Compute 2d covariance matrix of a list of points using Welford's online algorithm
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
-/// \return A 2d covariance matrix for all points inthe list
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
+/// \return A 2d covariance matrix for all points in the list
 template <typename IT>
 Covariance2d covariance_2d(const IT begin, const IT end)
 {
@@ -93,13 +95,14 @@ Covariance2d covariance_2d(const IT begin, const IT end)
 
 /// \brief Compute eigenvectors and eigenvalues
 /// \param[in] cov 2d Covariance matrix
-/// \param[out] eigvec1 First eigenvector
-/// \param[out] eigvec2 Second eigenvector
+/// \param[out] eig_vec1 First eigenvector
+/// \param[out] eig_vec2 Second eigenvector
 /// \tparam PointT Point type that has at least float members x and y
 /// \return A pairt of eigenvalues: The first is the larger eigenvalue
 /// \throw std::runtime error if you would get degenerate covariance
 template <typename PointT>
-std::pair<float32_t, float32_t> eig_2d(const Covariance2d & cov, PointT & eigvec1, PointT & eigvec2)
+std::pair<float32_t, float32_t> eig_2d(
+  const Covariance2d & cov, PointT & eig_vec1, PointT & eig_vec2)
 {
   const float32_t tr_2 = (cov.xx + cov.yy) * 0.5F;
   const float32_t det = (cov.xx * cov.yy) - (cov.xy * cov.xy);
@@ -120,28 +123,28 @@ std::pair<float32_t, float32_t> eig_2d(const Covariance2d & cov, PointT & eigvec
   // are persistent against further calculations.
   // (e.g. taking cross product of two eigen vectors)
   if (fabsf(cov.xy * cov.xy) > std::numeric_limits<float32_t>::epsilon()) {
-    xr_(eigvec1) = cov.xy;
-    yr_(eigvec1) = ret.first - cov.xx;
-    xr_(eigvec2) = cov.xy;
-    yr_(eigvec2) = ret.second - cov.xx;
+    xr_(eig_vec1) = cov.xy;
+    yr_(eig_vec1) = ret.first - cov.xx;
+    xr_(eig_vec2) = cov.xy;
+    yr_(eig_vec2) = ret.second - cov.xx;
   } else {
     if (cov.xx > cov.yy) {
-      xr_(eigvec1) = 1.0F;
-      yr_(eigvec1) = 0.0F;
-      xr_(eigvec2) = 0.0F;
-      yr_(eigvec2) = 1.0F;
+      xr_(eig_vec1) = 1.0F;
+      yr_(eig_vec1) = 0.0F;
+      xr_(eig_vec2) = 0.0F;
+      yr_(eig_vec2) = 1.0F;
     } else {
-      xr_(eigvec1) = 0.0F;
-      yr_(eigvec1) = 1.0F;
-      xr_(eigvec2) = 1.0F;
-      yr_(eigvec2) = 0.0F;
+      xr_(eig_vec1) = 0.0F;
+      yr_(eig_vec1) = 1.0F;
+      xr_(eig_vec2) = 1.0F;
+      yr_(eig_vec2) = 0.0F;
     }
   }
   return ret;
 }
 
 /// \brief Given eigenvectors, compute support (furthest) point in each direction
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \tparam PointT type of a point with float members x and y
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
@@ -183,7 +186,7 @@ bool8_t compute_supports(
 }
 
 /// \brief Compute bounding box given a pair of basis directions
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \tparam PointT Point type of the lists, must have float members x and y
 /// \param[in] ax1 First basis direction, assumed to be normal to ax2
 /// \param[in] ax2 Second basis direction, assumed to be normal to ax1, assumed to be ccw wrt ax1
@@ -210,7 +213,7 @@ BoundingBox compute_bounding_box(
 ///        modify the list. The resulting bounding box is not necessarily minimum in any way
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \return An oriented bounding box in x-y. This bounding box has no height information
 template <typename IT>
 BoundingBox eigenbox_2d(const IT begin, const IT end)
@@ -222,7 +225,7 @@ BoundingBox eigenbox_2d(const IT begin, const IT end)
   using PointT = details::base_type<decltype(*begin)>;
   PointT eig1;
   PointT eig2;
-  const auto eigv = details::eig_2d(cov, eig1, eig2);
+  const auto eig_v = details::eig_2d(cov, eig1, eig2);
 
   // find extreme points
   details::Point4<IT> supports;
@@ -232,7 +235,7 @@ BoundingBox eigenbox_2d(const IT begin, const IT end)
     std::swap(eig1, eig2);
   }
   BoundingBox bbox = details::compute_bounding_box(eig1, eig2, supports);
-  bbox.value = eigv.first;
+  bbox.value = eig_v.first;
 
   return bbox;
 }

common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp

@@ -18,6 +18,8 @@
 /// \brief This file implements 2D pca on a linked list of points to estimate an oriented
 ///        bounding box
 
+// cspell: ignore LFIT, lfit
+// LFIT means "L-Shape Fitting"
 #ifndef GEOMETRY__BOUNDING_BOX__LFIT_HPP_
 #define GEOMETRY__BOUNDING_BOX__LFIT_HPP_
 
@@ -117,8 +119,8 @@ float32_t solve_lfit(const LFitWs & ws, PointT & dir)
                        ws.m22d - (((ws.m12b * ws.m12b) * pi) + ((ws.m12d * ws.m12d) * qi)),
                        ws.m22b - (((ws.m12a * ws.m12b) * pi) + ((ws.m12c * ws.m12d) * qi)), 0UL};
   PointT eig1;
-  const auto eigv = eig_2d(M, eig1, dir);
-  return eigv.second;
+  const auto eig_v = eig_2d(M, eig1, dir);
+  return eig_v.second;
 }
 
 /// \brief Increments L fit M matrix with information in the point
@@ -176,7 +178,7 @@ class LFitCompare
 /// \param[in] end An iterator pointing to one past the last point in the point list
 /// \param[in] size The number of points in the point list
 /// \return A bounding box that minimizes the LFit residual
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 template <typename IT>
 BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::size_t size)
 {
@@ -207,11 +209,11 @@ BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::s
     }
   }
   // can recover best corner point, but don't care, need to cover all points
-  const auto inorm = 1.0F / norm_2d(best_normal);
-  if (!std::isnormal(inorm)) {
+  const auto inv_norm = 1.0F / norm_2d(best_normal);
+  if (!std::isnormal(inv_norm)) {
     throw std::runtime_error{"LFit: Abnormal norm"};
   }
-  best_normal = times_2d(best_normal, inorm);
+  best_normal = times_2d(best_normal, inv_norm);
   auto best_tangent = get_normal(best_normal);
   // find extreme points
   Point4<IT> supports;
@@ -235,7 +237,7 @@ BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::s
 /// \param[in] hint An iterator pointing to the point whose normal will be used to sort the list
 /// \return A pair where the first element is an iterator pointing to the nearest point, and the
 ///         second element is the size of the list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 /// \throw std::domain_error If the number of points is too few
 template <typename IT, typename PointT>
 BoundingBox lfit_bounding_box_2d(
@@ -258,7 +260,7 @@ BoundingBox lfit_bounding_box_2d(
 /// \return An oriented bounding box in x-y. This bounding box has no height information
 /// \param[in] begin An iterator pointing to the first point in a point list
 /// \param[in] end An iterator pointing to one past the last point in the point list
-/// \tparam IT An iterator type dereferencable into a point with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point with float members x and y
 template <typename IT>
 BoundingBox lfit_bounding_box_2d(const IT begin, const IT end)
 {

common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp

@@ -139,7 +139,7 @@ void init_bbox(const IT begin, const IT end, Point4<IT> & support)
 /// \param[in] end An iterator to one past the last point on a convex hull
 /// \param[in] metric_fn A functor determining what measure the bounding box is minimum with respect
 ///                      to
-/// \tparam IT An iterator type dereferencable into a point type with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point type with float members x and y
 /// \tparam MetricF A functor that computes a float measure from the x and y size (width and length)
 ///                 of a bounding box, assumed to be packed in a Point32 message.
 /// \throw std::domain_error if the list of points is too small to reasonable generate a bounding
@@ -223,7 +223,7 @@ BoundingBox rotating_calipers_impl(const IT begin, const IT end, const MetricF m
 /// \param[in] begin An iterator to the first point on a convex hull
 /// \param[in] end An iterator to one past the last point on a convex hull
 /// \return A minimum area bounding box, value field is the area
-/// \tparam IT An iterator type dereferencable into a point type with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point type with float members x and y
 template <typename IT>
 BoundingBox minimum_area_bounding_box(const IT begin, const IT end)
 {
@@ -238,7 +238,7 @@ BoundingBox minimum_area_bounding_box(const IT begin, const IT end)
 /// \param[in] begin An iterator to the first point on a convex hull
 /// \param[in] end An iterator to one past the last point on a convex hull
 /// \return A minimum perimeter bounding box, value field is half the perimeter
-/// \tparam IT An iterator type dereferencable into a point type with float members x and y
+/// \tparam IT An iterator type dereferenceable into a point type with float members x and y
 template <typename IT>
 BoundingBox minimum_perimeter_bounding_box(const IT begin, const IT end)
 {