fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader

[go-sakayori]

Description

Both the simple_planning_simulator and autoware_raw_vehicle_cmd_converter package has a CSV loader class.
As a member function they have getRowIndex and getColumnIndex.
However, the getRowIndex seems to read index for columns, and the getColumnIndex seems to read index for rows.
These functions have been swapped in this PR.

Furthermore, some refactoring was made based on clang tidy.

Related links

None

How was this PR tested?

Was able to drive autonomously in PSim.

Parameters were changed as below:
simulator_model.param.yaml

/**:
  ros__parameters:
    simulated_frame_id: "base_link"
    origin_frame_id: "map"
    vehicle_model_type: "ACTUATION_CMD"
    initialize_source: "INITIAL_POSE_TOPIC"
    timer_sampling_time_ms: 25
    add_measurement_noise: False
    enable_road_slope_simulation: True
    vel_lim: 50.0
    vel_rate_lim: 7.0
    steer_lim: 1.0
    steer_rate_lim: 5.0
    acc_time_delay: 0.1
    acc_time_constant: 0.1
    steer_time_delay: 0.24
    steer_time_constant: 0.27
    steer_dead_band: 0.0012
    x_stddev: 0.0001 # x standard deviation for dummy covariance in map coordinate
    y_stddev: 0.0001 # y standard deviation for dummy covariance in map coordinate

    accel_time_delay: 0.1
    accel_time_constant: 0.1
    brake_time_delay: 0.1
    brake_time_constant: 0.1
    accel_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/accel_map.csv
    brake_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/brake_map.csv
    steer_map_path: $(find-pkg-share simple_planning_simulator)/data/actuation_cmd_map/steer_map.csv
    convert_accel_cmd: true
    convert_brake_cmd: true
    convert_steer_cmd: true

    convert_steer_cmd_method: "vgr"
    vgr_coef_a: 15.713
    vgr_coef_b: 0.053
    vgr_coef_c: 0.042
    enable_pub_steer: true

raw_vehicle_cmd_converter.param.yaml

/**:
  ros__parameters:
    csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv
    csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv
    csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv
    convert_accel_cmd: true
    convert_brake_cmd: true
    convert_steer_cmd: true
    use_steer_ff: true
    use_steer_fb: true
    is_debugging: false
    max_throttle: 0.4
    max_brake: 0.8
    max_steer: 10.0
    min_steer: -10.0
    steer_pid:
      kp: 150.0
      ki: 15.0
      kd: 0.0
      max: 8.0
      min: -8.0
      max_p: 8.0
      min_p: -8.0
      max_i: 8.0
      min_i: -8.0
      max_d: 0.0
      min_d: 0.0
      invalid_integration_decay: 0.97
    convert_steer_cmd_method: "vgr"  # "vgr" or "steer_map"
    vgr_coef_a: 15.713
    vgr_coef_b: 0.053
    vgr_coef_c: 0.042
    convert_actuation_to_steering_status: false

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[kosuke55]

LGTM!

[soblin]

LGTM

• swap column/row
• use reserve before push_back for perf

[codecov]

Codecov Report

Attention: Patch coverage is 91.30435% with 2 lines in your changes missing coverage. Please review.

Project coverage is 28.42%. Comparing base (9fd0dae) to head (fc8463e).
Report is 8 commits behind head on main.

Files with missing lines	Patch %	Lines
...cle_model/sim_model_delay_steer_map_acc_geared.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8963      +/-   ##
==========================================
- Coverage   28.48%   28.42%   -0.06%     
==========================================
  Files        1314     1316       +2     
  Lines       98292    98386      +94     
  Branches    39995    40004       +9     
==========================================
- Hits        27999    27968      -31     
- Misses      70228    70353     +125     
  Partials       65       65              

Flag	Coverage Δ		*Carryforward flag
differential	22.43% <91.30%> (?)
total	28.44% <ø> (-0.05%)	⬇️	Carriedforward from 9fd0dae

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