chore(typo): eliminate typos (autowarefoundation#2216)

* Replace 'asssert' with 'assert' Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): collinearity => collinearity Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): numbef => number Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): missmatched => mismatched Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): minimun => minimum Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): neighbore => neighbor Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): neighbour => neighbor Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): propery => properly Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): reagion => region Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): shirinking => shrinking Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): turining => turning Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): lexas => lexus Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): fastetst => fastest Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): analyse => analyze Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): ordinaray => ordinary Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): existance => existence Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): insert missing space Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): modify url including typo in original url Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): precompined => precomputed Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): magitude => magnitude Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): exernal => external Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): undderlying => underlying Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): expicitly => explicitly Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): paremterized => parameterized Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): thier => their Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): simualtor => simulator Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): modifiy => modify Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): neccessary => necessary Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): travelled => traveled Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): heursitic => heuristic Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): chagne => change Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): waypints => waypoints Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): unknwon => unknown Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): true => true Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): approximiate => approximate Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): analitically => analytically Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): modify url including typo in original url Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): neighbour => neighbor Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): modify url including typo in original url Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): kiro => kilo Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): flowchar => flowchart Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): projecton => projection Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): divide variable name with space to fix cspell error Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): yawrate => yaw rate Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): timelag => time_lag Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): divide variable name with space to fix cspell error Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): retrive => retrieve Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): posemsg => pose msg Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): replace northup with east_north_up Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): ignore person names Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): ignore cspell error due to the source from OpenCV Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): ignore cspell error due to the source from OpenCV Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(spell-check): ignore minx, maxx, miny, maxy, minz, maxz from autoware parameter names Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(spell-check): Ignore cspell errors caused by external factor(plotjuggler) Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): dereferencable => dereferenceable Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): maxs => maxes Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): interpolatable => interpolable (more common) Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): fillter => filter Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): retrurn => return Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): diagnotics => diagnostics Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): Frist => First Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore ptfilter (external reference code) Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): overwite => overwrite Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(cspell): use semi-major instead of semimajor Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): transien => transient Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore multipolygon, multilinestring Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): symetric => symmetric Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore Gammell (person name) Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore Karaman (person name) Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore feps with adding explanation Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace iradius with i_radius Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace inorm with inv_norm Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace idist with i_dist Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore lfit, LFIT Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore Bboxes Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): unsuppoerted => unsupported Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore person names Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace eigvec with eig_vec Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace eigv with eig_v Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore eigenbox Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace fltmax with flt_max Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore asan Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore rsspace with adding explanation Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace bfqueue with bf_queue Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): expanded abbreviations in variable names　in debug_plot.py Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore nparr with adding explanation Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace vmodel with vehicle_model Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore fpalgos Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace inpro with inner_product Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace iradius with i_radius Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): replace sstm with ss Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore dend Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore ndim, ndata, linewidth Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore errors from parameter name Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): socre => score Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): newstamp => new_stamp Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): fuseon => fuseOn Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): stdpair => std_pair Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): boxid => box_id Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): intensity => intensity Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): inorder to => in order to Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore divup Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): faceobjects => face_objects Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore rsspace Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore errors from citation Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore moraisim Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore ADMM Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore pointinpoly from reference Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): replaned => replanned Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): interaface => interface Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): supress => suppress Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): distane => distance Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): relevent => relevant Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): pedestrain => pedestrian Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): obejct => object Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): paramters => parameters Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore asdasd Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): unnormalized => un-normalized Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): precompilation => pre-compilation Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): compensents => components Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): cummulative => cumulative Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore degrounded Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore person names Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): publically => publicly Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): interpolable => interpolatable Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore longl Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): pngs => png images Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): concate => concat Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore cand Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): image magick => imagemagick Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): faceo_ject=> face_object Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): velocityinsertion => velocity insertion Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): euclidian => euclidean Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore steerings Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore OCCUPANCYGRID Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): occuring => occurring Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): refere => refer Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore fourcell Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): eigvalue => eigenvalue Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore badpt Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): ignore divb Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * style(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * doc: add comment to describe LFIT Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): computationall => computational Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): hypothenus => hypotenuse Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * ci(pre-commit): autofix Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * update Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * fix(typo): interpolatable => interpolable (more common) Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * Squashed commit of the following: commit c7d3b7d2132323af3437af01e9d774b13005bace Author: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Fri Dec 16 13:51:35 2022 +0900 test(freespace_planning_algorithms): done't dump rosbag by default (#2504) Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp> Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp> commit 6731e0ced39e3187c2afffe839eaa697a19e5e84 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri Dec 16 09:29:35 2022 +0900 feat(pose_initializer): partial map loading (#2500) * first commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * move function Signed-off-by: kminoda <koji.minoda@tier4.jp> * now works Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * clarify how to enable partial mao loading interface Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * Update localization/pose_initializer/config/pose_initializer.param.yaml Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * fix pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> commit efb4ff1cea6e07aa9e894a6042e8685e30b420ba Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Thu Dec 15 17:29:44 2022 +0900 feat(trajectory_follower): extend mpc trajectory for terminal yaw (#2447) * feat(trajectory_follower): extend mpc trajectory for terminal yaw Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * make mpc min vel param Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add mpc extended point after smoothing Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Revert "make mpc min vel param" This reverts commit 02157b6ae0c2ff1564840f6d15e3c55025327baf. Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add comment and hypot Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * remove min vel Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add flag for extending traj Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add extend param to default param Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix from TakaHoribe review Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix typo Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * refactor Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit ad2ae7827bdc3af7da8607fdd53ea74940426421 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 15 15:52:34 2022 +0900 feat(component_interface_tools): add service log checker (#2503) * feat(component_interface_utils): add service log checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(component_interface_tools): add service log checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(component_interface_tools): add diagnostics Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: update system error monitor config Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> commit 4a13cc5a32898f5b17791d9381744bf71ff8ed20 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu Dec 15 12:54:11 2022 +0900 fix(behavior_path_planner): fix goal lanelet extension (#2508) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit 77b1c36b5ca89b25250dcbb117c9f03a9c36c1c4 Author: Kyoichi Sugahara <81.s.kyo.19@gmail.com> Date: Thu Dec 15 10:45:45 2022 +0900 feat(behavior_path_planner): change side shift module logic (#2195) * change side shift module design Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * cherry picked side shift controller Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * add debug marker to side shift Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * fix pointer error due to direct assignment added make_shared Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add flow chart Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * add status of AFTER_SHIFT Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * remove function for debug Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * ci(pre-commit): autofix * fix flow chart Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> * ci(pre-commit): autofix Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 9183c4f20eb4592ed0b48c2eac67add070711677 Author: Takamasa Horibe <horibe.takamasa@gmail.com> Date: Wed Dec 14 19:59:00 2022 +0900 refactor(simple_planning_simulator): make function for duplicated code (#2502) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> commit ed992b10ed326f03354dce3b563b8622f9ae9a6c Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 17:48:24 2022 +0900 fix(behavior_path_planner): fix planner data copy (#2501) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit 0c6c46b33b3c828cb95eaa31fcbf85655fc6a55f Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 14:42:16 2022 +0900 fix(behavior_path_planner): fix find nearest function from lateral distance (#2499) * feat(behavior_path_planner): fix find nearest function from lateral distance * empty commit commit a26b69d1df55e9369ea3adcdd011ae2d7c86dfb7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 14 11:28:07 2022 +0900 feat(behavior_path_planner): fix overlap checker (#2498) * feat(behavior_path_planner): fix overlap checker Signed-off-by: yutaka <purewater0901@gmail.com> * remove reserve Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit 3a24859ca6851caaeb25fc4fac2334fcbdb887d1 Author: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue Dec 13 16:51:59 2022 +0300 feat(mission_planner): check goal footprint (#2088) Signed-off-by: ismet atabay <ismet@leodrive.ai> commit b6a18855431b5f3a67fcbf383fac8df2b45d462e Author: Takamasa Horibe <horibe.takamasa@gmail.com> Date: Tue Dec 13 22:46:24 2022 +0900 feat(trajectory_visualizer): update for steer limit, remove tf for pose source (#2267) Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> commit f1a9a9608559a5b89f631df3dc2fadd037e36ab4 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 19:47:16 2022 +0900 feat(behavior_path_planner): remove unnecessary code and clean turn signal decider (#2494) * feat(behavior_path_planner): clean drivable area code Signed-off-by: yutaka <purewater0901@gmail.com> * make a function for turn signal decider Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit fafe1d8235b99302bc9ba8f3770ae34878f1e7e7 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue Dec 13 18:19:41 2022 +0900 feat(behavior_path_planner): change turn signal output timing (#2493) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit c48b9cfa7074ecd46d96f6dc43679e17bde3a63d Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue Dec 13 09:16:14 2022 +0900 feat(map_loader): add differential map loading interface (#2417) * first commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * added module load in _node.cpp Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * create pcd metadata dict when either of the flag is true Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * fix readme * ci(pre-commit): autofix Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 9a3613bfcd3e36e522d0ea9130f6200ca7689e2b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 08:49:23 2022 +0900 docs(default_ad_api): add readme (#2491) * docs(default_ad_api): add readme Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: update table Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> commit 49aa10b04de61c36706f6151d11bf17257ca54d1 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 13 06:46:20 2022 +0900 feat(default_ad_api): split parameters into file (#2488) * feat(default_ad_api): split parameters into file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: remove old parameter Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: test Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: add default config Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> commit 7f0138c356c742b6e15e571e7a4683caa55969ac Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Mon Dec 12 22:16:54 2022 +0900 feat(behavior_path_planner, obstacle_avoidance_planner): add new drivable area (#2472) * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update obstacle avoidance planner Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * clean code Signed-off-by: yutaka <purewater0901@gmail.com> * uddate Signed-off-by: yutaka <purewater0901@gmail.com> * clean code Signed-off-by: yutaka <purewater0901@gmail.com> * remove resample Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * add orientation Signed-off-by: yutaka <purewater0901@gmail.com> * change color Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * remove drivable area Signed-off-by: yutaka <purewater0901@gmail.com> * add flag Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * update color Signed-off-by: yutaka <purewater0901@gmail.com> * fix some codes Signed-off-by: yutaka <purewater0901@gmail.com> * change to makerker array Signed-off-by: yutaka <purewater0901@gmail.com> * change avoidance utils Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit c855e23cc17d1518ebce5dd15629d03acfe17da3 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 17:15:10 2022 +0900 refactor(vehicle_cmd_gate): remove old emergency topics (#2403) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> commit fa04d540c9afdded016730c9978920a194d2d2b4 Author: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Mon Dec 12 16:04:00 2022 +0900 feat: replace python launch with xml launch for system monitor (#2430) * feat: replace python launch with xml launch for system monitor Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * ci(pre-commit): autofix * update figure Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 4a6990c49d1f8c3bedfb345e7c94c3c6893b4099 Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Mon Dec 12 15:01:39 2022 +0900 feat(trajectory_follower): pub steer converged marker (#2441) * feat(trajectory_follower): pub steer converged marker Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Revert "feat(trajectory_follower): pub steer converged marker" This reverts commit a6f6917bc542d5b533150f6abba086121e800974. Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * add steer converged debug marker in contoller_node Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit 3c01f15125dfbc45e1050ee96ccc42618d6ee6fd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 12:48:41 2022 +0900 docs(tier4_state_rviz_plugin): update readme (#2475) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> commit d8ece0040354be5381a27403bcc757354735a77b Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Mon Dec 12 11:57:03 2022 +0900 chore(simulator_compatibility_test): suppress setuptools warnings (#2483) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> commit 727586bfe86dc9cb21ce34d9cbe19c241e162b04 Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 10:00:35 2022 +0900 fix(behavior_path_planner): lane change candidate resolution (#2426) * fix(behavior_path_planner): lane change candidate resolution Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rework sampling based on current speed Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * refactor code Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * use util's resampler Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * consider min_resampling_points and resampling dt Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> * simplify code Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> commit 284548ca7f38b1d83af11f2b9caaac116eb9b09c Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon Dec 12 09:57:19 2022 +0900 fix(behavior_path_planner): minimum distance for lane change (#2413) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> commit 469d8927bd7a0c98b9d491d347e111065973e13f Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Fri Dec 9 21:27:18 2022 +0900 revert(behavior_path): revert removal of refineGoalFunction (#2340)" (#2485) This reverts commit 8e13ced6dfb6edfea77a589ef4cb93d82683bf51. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> commit d924f85b079dfe64feab017166685be40e977e62 Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Fri Dec 9 19:53:51 2022 +0800 fix(freespace_planning_algorithms): fix rrtstar can't arrive goal error (#2350) Signed-off-by: NorahXiong <norah.xiong@autocore.ai> Signed-off-by: NorahXiong <norah.xiong@autocore.ai> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> commit b2ded82324bce78d9db3ff01b0227b00709b1efe Author: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri Dec 9 17:12:13 2022 +0900 fix(ground-segmentation): recheck gnd cluster pointcloud (#2448) * fix: reclassify ground cluster pcl Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * fix: add lowest-based recheck Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * chore: refactoring Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> commit 8906a1e78bc5b7d6417683ecedc1efe3f48be31e Author: Takamasa Horibe <horibe.takamasa@gmail.com> Date: Fri Dec 9 16:29:45 2022 +0900 fix(trajectory_follower): fix mpc trajectory z pos (#2482) Signed-off-by: takahoribe <horibe.takamasa@gmail.com> Signed-off-by: takahoribe <horibe.takamasa@gmail.com> commit d4939058f05f9a1609f0ed22afbd0d4febfb212d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri Dec 9 12:40:30 2022 +0900 feat(behavior_velocity_planner): clean walkway module (#2480) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit d3b86a37ae7c3a0d59832caf56afa13b148d562c Author: Makoto Kurihara <mkuri8m@gmail.com> Date: Thu Dec 8 22:59:32 2022 +0900 fix(emergency_handler): fix mrm handling when mrm behavior is none (#2476) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> commit 2dde073a101e96757ef0cd189bb9ff06836934e9 Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Thu Dec 8 17:16:13 2022 +0900 feat(behavior_velocity_planner): add velocity factors (#1985) * (editting) add intersection_coordination to stop reason Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (editting) add intersection coordination to stop reasons Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (Editting) add v2x to stop reason Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (editting) add stop reason2 publisher Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (editting) add stop reason2 to scene modules Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * add stop reason2 to obstacle stop planner and surround obstacle checker Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * Modify files including unintended change by rebase Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * ci(pre-commit): autofix * Modification 1: not to publsh vacant stop reason, 2: change default status in obstacle stop and surround obstacle checker Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * fix error Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * ci(pre-commit): autofix * modification for renaming stop_reason2 to motion_factor Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (Editting) rename variables Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * bug fix Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (WIP) Add motion factor message. Modify scene modules due to new motion factor. Moving motion factor aggregator. Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (WIP) Save current work. Modify aggregator, CMakeList. Add launcher Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (WIP) Solved build error, but not launched Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (WIP) fixing error in launch Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (WIP) fixing error in launch Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (WIP) fixing launch error Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * Fix error in launching motion factor aggregator Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * Delete unnecessary comment-out in CMakelists. Change remapping in launcher. Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * ci(pre-commit): autofix * pull the latest foundation/main Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * (fix for pre-commit.ci) Add <memory> to motion_factor_aggregator.hpp Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * ci(pre-commit): autofix * feat: add velocity factor interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix build error Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: stop sign Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * WIP Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: update visualizer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: modify traffic light manager Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: update velocity factors Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: update api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: move adapi msgs Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: remove old aggregator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: move api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: rename message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: add using Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: add distance Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: fix build error Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: use nan as default distance Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: set virtual traffic light detail Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: remove debug code Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 9a5057e4948ff5ac9165c14eb7112d79f2de76d5 Author: Kosuke Takeuchi <kosuke.tnp@gmail.com> Date: Thu Dec 8 13:42:50 2022 +0900 fix(freespace_planning_algorithms): comment out failing tests (#2440) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> commit cddb8c74d0fbf49390b4d462c20c12bc257f4825 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:57:04 2022 +0900 feat(gyro_odometer): publish twist when both data arrives (#2423) * feat(gyro_odometer): publish when both data arrive Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove unnecessary commentouts Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * use latest timestamp Signed-off-by: kminoda <koji.minoda@tier4.jp> * small fix Signed-off-by: kminoda <koji.minoda@tier4.jp> * debugged Signed-off-by: kminoda <koji.minoda@tier4.jp> * update gyro_odometer Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * add comments Signed-off-by: kminoda <koji.minoda@tier4.jp> * add comments Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * fix timestamp validation flow Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * remove unnecessary commentouts Signed-off-by: kminoda <koji.minoda@tier4.jp> * pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit f0f513cf44532dfe8d51d27c4caef23fb694af16 Author: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu Dec 8 11:08:29 2022 +0900 fix: remove unnecessary DEBUG_INFO declarations (#2457) Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> commit 01daebf42937a05a2d83f3dee2c0778389492e50 Author: Takayuki Murooka <takayuki5168@gmail.com> Date: Thu Dec 8 00:28:35 2022 +0900 fix(tier4_autoware_api_launch): add rosbridge_server dependency (#2470) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> commit 26ef8174b1c12b84070b36df2a7cd14bfa9c0363 Author: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed Dec 7 19:32:09 2022 +0900 fix: rename `use_external_emergency_stop` to `check_external_emergency_heartbeat` (#2455) * fix: rename use_external_emergency_stop to check_external_emergency_heartbeat * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> commit 024b993a0db8c0d28db0f05f64990bed7069cbd8 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 18:00:32 2022 +0900 fix(motion_utils): rename sampling function (#2469) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit c240ce2b6f4e79c435ed651b347a7d665a947862 Author: Yukihiro Saito <yukky.saito@gmail.com> Date: Wed Dec 7 16:33:44 2022 +0900 feat: remove web controller (#2405) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> commit 2992b1cadae7e7ac86fd249998ce3c7ddbe476c9 Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 15:39:28 2022 +0900 feat(motion_utils): add points resample function (#2465) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit 4a75d7c0ddbd88f54afaf2bb05eb65138a53ea60 Author: Mingyu1991 <115005477+Mingyu1991@users.noreply.github.com> Date: Wed Dec 7 14:42:33 2022 +0900 docs: update training data for traffic light (#2464) * update traffic light cnn classifier README.md * correct to upper case Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> commit a4287165be87fa7727f79c01dfb0bea6af54c333 Author: Ryuta Kambe <veqcc.c@gmail.com> Date: Wed Dec 7 12:21:49 2022 +0900 perf(behavior_velocity_planner): remove unnecessary debug data (#2462) Signed-off-by: veqcc <ryuta.kambe@tier4.jp> commit 0a5b2857d3b2c1c9370598013b25aeaebf2d654d Author: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Wed Dec 7 12:03:46 2022 +0900 feat(behavior_path_planner): cut overlapped path (#2451) * feat(behavior_path_planner): cut overlapped path Signed-off-by: yutaka <purewater0901@gmail.com> * clean code Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com> commit 65003dc99f2abe937afcc010514530fa666fbbfd Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Wed Dec 7 11:06:41 2022 +0900 revert(default_ad_api): fix autoware state to add wait time (#2407) (#2460) Revert "fix(default_ad_api): fix autoware state to add wait time (#2407)" This reverts commit c4224854a7e57a9526dde998f742741fe383471c. commit fab18677ca4de378faff84a41db5147577e7448d Author: Makoto Kurihara <mkuri8m@gmail.com> Date: Wed Dec 7 10:32:41 2022 +0900 fix(raw_vehicle_cmd_converter): fix column index for map validation (#2450) Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com> commit a1d3c80a4f5e3a388887a5afb32d9bf7961301f1 Author: Ambroise Vincent <ambroise.vincent@arm.com> Date: Tue Dec 6 10:39:02 2022 +0100 fix(tvm_utility): copy test result to CPU (#2414) Also remove dependency to autoware_auto_common. Issue-Id: SCM-5401 Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com> Change-Id: I83b859742df2f2ff7df1d0bd2d287bfe0aa04c3d Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com> Co-authored-by: Xinyu Wang <93699235+angry-crab@users.noreply.github.com> commit eb9946832c7e42d5380fd71956165409d0b592c3 Author: Mamoru Sobue <mamoru.sobue@tier4.jp> Date: Tue Dec 6 18:11:41 2022 +0900 chore(behaviror_velocity_planner): changed logging level for intersection (#2459) changed logging level Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> commit c4224854a7e57a9526dde998f742741fe383471c Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Date: Tue Dec 6 17:01:37 2022 +0900 fix(default_ad_api): fix autoware state to add wait time (#2407) * fix(default_ad_api): fix autoware state to add wait time Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Update system/default_ad_api/src/compatibility/autoware_state.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> commit f984fbb708cb02947ec2824ce041c739c35940f7 Author: Takamasa Horibe <horibe.takamasa@gmail.com> Date: Tue Dec 6 13:55:17 2022 +0900 feat(transition_manager): add param to ignore autonomous transition condition (#2453) * feat(transition_manager): add param to ignore autonomous transition condition Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * same for modeChangeCompleted Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove debug print Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> commit d3e640df270a0942c4639e11451faf26e099bbe1 Author: Tomoya Kimura <tomoya.kimura@tier4.jp> Date: Tue Dec 6 13:01:06 2022 +0900 feat(operation_mode_transition_manager): transition to auto quickly when vehicle stops (#2427) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore(cspell): interpolable => interpolatable Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * Revert "Merge branch 'destroy-typos-check-all' into destroy-typos" This reverts commit 6116ca02d9df59f815d772a271fed7b0b21ebaf7, reversing changes made to 1f7157a6b6d957dc0ddd2ac5ef7f8a36c94b96e4. Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore: fix duplication of parameter Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * chore: fix duplication of function Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> * revert: system/system_monitor/launch/system_monitor.launch.xml Signed-off-by: Kotaro Yoshimoto <pythoagora.yoshimoto@gmail.com> --------- Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythoagora.yoshimoto@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
1222-takeshi · Mar 6, 2023 · c4557b2 · c4557b2
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diff --git a/common/autoware_auto_common/include/helper_functions/message_adapters.hpp b/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

diff --git a/common/autoware_auto_common/test/test_template_utils.cpp b/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(

diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/bounding_box_common.hpp b/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

diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/eigenbox_2d.hpp b/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;
 }

diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/lfit.hpp b/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)
 {

diff --git a/common/autoware_auto_geometry/include/geometry/bounding_box/rotating_calipers.hpp b/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)
 {

diff --git a/common/autoware_auto_geometry/include/geometry/common_2d.hpp b/common/autoware_auto_geometry/include/geometry/common_2d.hpp
@@ -262,7 +262,6 @@ T times_2d(const T & p, const float32_t a)
 /// \tparam T point type. Must have point adapters defined or have float members x and y
 /// \brief solve p + t * u = q + s * v
 ///        Ref: https://stackoverflow.com/questions/563198/
-///             whats-the-most-efficent-way-to-calculate-where-two-line-segments-intersect
 /// \param[in] pt anchor point of first line
 /// \param[in] u direction of first line
 /// \param[in] q anchor point of second line
@@ -274,6 +273,8 @@ inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v)
 {
   const float32_t num = cross_2d(minus_2d(pt, q), u);
   float32_t den = cross_2d(v, u);
+  // cspell: ignore FEPS
+  // FEPS means "Float EPSilon"
   constexpr auto FEPS = std::numeric_limits<float32_t>::epsilon();
   if (fabsf(den) < FEPS) {
     if (fabsf(num) < FEPS) {
@@ -292,7 +293,7 @@ inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v)
 /// \brief rotate point given precomputed sin and cos
 /// \param[inout] pt point to rotate
 /// \param[in] cos_th precomputed cosine value
-/// \param[in] sin_th precompined sine value
+/// \param[in] sin_th precomputed sine value
 template <typename T>
 inline void rotate_2d(T & pt, const float32_t cos_th, const float32_t sin_th)
 {
@@ -321,7 +322,7 @@ inline T rotate_2d(const T & pt, const float32_t th_rad)
 /// \brief compute q s.t. p T q, or p * q = 0
 ///        This is the equivalent of a 90 degree ccw rotation
 /// \param[in] pt point to get normal point of
-/// \return point normal to p (unnormalized)
+/// \return point normal to p (un-normalized)
 template <typename T>
 inline T get_normal(const T & pt)
 {
@@ -334,7 +335,7 @@ inline T get_normal(const T & pt)
 /// \tparam T point type. Must have point adapters defined or have float members x and y
 /// \brief get magnitude of x and y components:
 /// \param[in] pt point to get magnitude of
-/// \return magitude of x and y components together
+/// \return magnitude of x and y components together
 template <typename T>
 inline auto norm_2d(const T & pt)
 {

diff --git a/common/autoware_auto_geometry/include/geometry/convex_hull.hpp b/common/autoware_auto_geometry/include/geometry/convex_hull.hpp
@@ -136,6 +136,8 @@ typename std::list<PointT>::const_iterator convex_hull_impl(std::list<PointT> &
   const auto lexical_comparator = [](const PointT & a, const PointT & b) -> bool8_t {
     using point_adapter::x_;
     using point_adapter::y_;
+    // cspell: ignore FEPS
+    // FEPS means "Float EPSilon"
     constexpr auto FEPS = std::numeric_limits<float32_t>::epsilon();
     return (fabsf(x_(a) - x_(b)) > FEPS) ? (x_(a) < x_(b)) : (y_(a) < y_(b));
   };

diff --git a/common/autoware_auto_geometry/include/geometry/intersection.hpp b/common/autoware_auto_geometry/include/geometry/intersection.hpp
@@ -83,7 +83,7 @@ std::vector<Line> get_sorted_face_list(const Iter start, const Iter end)
   return face_list;
 }
 
-/// \brief Append points of the polygon `internal` that are contained in the polygon `exernal`.
+/// \brief Append points of the polygon `internal` that are contained in the polygon `external`.
 template <
   template <typename...> class Iterable1T, template <typename...> class Iterable2T, typename PointT>
 void append_contained_points(
@@ -147,6 +147,9 @@ void append_intersection_points(
           std::min(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second)),
           std::max(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second))};
 
+        // cspell: ignore feps
+        // feps means "Float EPSilon"
+
         // The accumulated floating point error depends on the magnitudes of each end of the
         // intervals. Hence the upper bound of the absolute magnitude should be taken into account
         // while computing the epsilon.
@@ -274,7 +277,7 @@ std::list<PointT> convex_polygon_intersection2d(
 /// \param polygon1 A convex polygon
 /// \param polygon2 A convex polygon
 /// \return (Intersection / Union) between two given polygons.
-/// \throws std::domain_error If there is any inconsistency on the undderlying geometrical
+/// \throws std::domain_error If there is any inconsistency on the underlying geometrical
 /// computation.
 template <
   template <typename...> class Iterable1T, template <typename...> class Iterable2T, typename PointT>

diff --git a/common/autoware_auto_geometry/include/geometry/interval.hpp b/common/autoware_auto_geometry/include/geometry/interval.hpp
@@ -256,8 +256,8 @@ bool Interval<T>::abs_eq(const Interval & i1, const Interval & i2, const T & eps
   const auto both_non_empty = !Interval::empty(i1) && !Interval::empty(i2);
 
   const auto mins_equal = comp::abs_eq(Interval::min(i1), Interval::min(i2), eps);
-  const auto maxs_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);
-  const auto both_non_empty_equal = both_non_empty && mins_equal && maxs_equal;
+  const auto maxes_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps);
+  const auto both_non_empty_equal = both_non_empty && mins_equal && maxes_equal;
 
   return both_empty || both_non_empty_equal;
 }
@@ -286,7 +286,7 @@ bool Interval<T>::bounds_valid(const Interval & i)
 {
   const auto is_ordered = (Interval::min(i) <= Interval::max(i));
 
-  // Check for emptiness expicitly because it requires both bounds to be NaN
+  // Check for emptiness explicitly because it requires both bounds to be NaN
   return Interval::empty(i) || is_ordered;
 }