From 5e5b1a08ab0ef7a978c5f95a7e91f0f810b4ecc2 Mon Sep 17 00:00:00 2001
From: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 14 May 2022 21:10:57 +0900
Subject: [PATCH] Rename

---
 planning/freespace_planning_algorithms/CMakeLists.txt    | 2 +-
 .../include/freespace_planning_algorithms/rrtstar.hpp    | 4 ++--
 planning/freespace_planning_algorithms/src/rrtstar.cpp   | 9 ++++-----
 .../test/src/test_freespace_planning_algorithms.cpp      | 5 ++---
 4 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt
index ff8ce24f0feb3..c25569ff04249 100644
--- a/planning/freespace_planning_algorithms/CMakeLists.txt
+++ b/planning/freespace_planning_algorithms/CMakeLists.txt
@@ -28,7 +28,7 @@ target_link_libraries(rrtstar_core
 ament_auto_add_library(freespace_planning_algorithms SHARED
   src/abstract_algorithm.cpp
   src/astar_search.cpp
-  src/informed_rrtstar.cpp
+  src/rrtstar.cpp
 )
 
 target_link_libraries(freespace_planning_algorithms
diff --git a/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp b/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp
index 5cf12cb96bee4..428d89e4a2e86 100644
--- a/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp
+++ b/planning/freespace_planning_algorithms/include/freespace_planning_algorithms/rrtstar.hpp
@@ -30,10 +30,10 @@ struct RRTStarParam
   double margin;       // [m]
 };
 
-class GridInformedRRTStar : public AbstractPlanningAlgorithm
+class RRTStar : public AbstractPlanningAlgorithm
 {
 public:
-  explicit GridInformedRRTStar(
+  explicit RRTStar(
     const PlannerCommonParam & planner_common_param, const VehicleShape & original_vehicle_shape,
     const RRTStarParam & rrtstar_param);
   bool makePlan(
diff --git a/planning/freespace_planning_algorithms/src/rrtstar.cpp b/planning/freespace_planning_algorithms/src/rrtstar.cpp
index bb9bffd298279..3f82ff3927ec3 100644
--- a/planning/freespace_planning_algorithms/src/rrtstar.cpp
+++ b/planning/freespace_planning_algorithms/src/rrtstar.cpp
@@ -27,7 +27,7 @@ rrtstar_core::Pose posemsgToPose(const geometry_msgs::msg::Pose & pose_msg)
 
 namespace freespace_planning_algorithms
 {
-GridInformedRRTStar::GridInformedRRTStar(
+RRTStar::RRTStar(
   const PlannerCommonParam & planner_common_param, const VehicleShape & original_vehicle_shape,
   const RRTStarParam & rrtstar_param)
 : AbstractPlanningAlgorithm(
@@ -47,7 +47,7 @@ GridInformedRRTStar::GridInformedRRTStar(
   }
 }
 
-bool GridInformedRRTStar::makePlan(
+bool RRTStar::makePlan(
   const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose)
 {
   const rclcpp::Time begin = rclcpp::Clock(RCL_ROS_TIME).now();
@@ -105,8 +105,7 @@ bool GridInformedRRTStar::makePlan(
   return true;
 }
 
-bool GridInformedRRTStar::hasObstacleOnTrajectory(
-  const geometry_msgs::msg::PoseArray & trajectory) const
+bool RRTStar::hasObstacleOnTrajectory(const geometry_msgs::msg::PoseArray & trajectory) const
 {
   for (const auto & pose : trajectory.poses) {
     const auto pose_local = global2local(costmap_, pose);
@@ -119,7 +118,7 @@ bool GridInformedRRTStar::hasObstacleOnTrajectory(
   return false;
 }
 
-void GridInformedRRTStar::setRRTPath(const std::vector<rrtstar_core::Pose> & waypoints)
+void RRTStar::setRRTPath(const std::vector<rrtstar_core::Pose> & waypoints)
 {
   std_msgs::msg::Header header;
   header.stamp = rclcpp::Clock(RCL_ROS_TIME).now();
diff --git a/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp
index 423c37238635f..019823c1268c4 100644
--- a/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp
+++ b/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp
@@ -14,7 +14,7 @@
 
 #include "freespace_planning_algorithms/abstract_algorithm.hpp"
 #include "freespace_planning_algorithms/astar_search.hpp"
-#include "freespace_planning_algorithms/informed_rrtstar.hpp"
+#include "freespace_planning_algorithms/rrtstar.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <rcpputils/filesystem_helper.hpp>
@@ -191,8 +191,7 @@ std::unique_ptr<fpa::AbstractPlanningAlgorithm> configure_rrtstar(bool update)
   const double mu = 12.0;
   const double margin = 0.2;
   const auto rrtstar_param = fpa::RRTStarParam{enable_update, mu, margin};
-  auto algo =
-    std::make_unique<fpa::GridInformedRRTStar>(planner_common_param, vehicle_shape, rrtstar_param);
+  auto algo = std::make_unique<fpa::RRTStar>(planner_common_param, vehicle_shape, rrtstar_param);
   return algo;
 }