Merge pull request #559 from tier4/sync-upstream

chore: sync upstream
tier4 · Jun 7, 2023 · 7d45f48 · 7d45f48
2 parents 9d2be17 + 1375cf5
commit 7d45f48
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Showing 32 changed files with 1,745 additions and 1,731 deletions.
diff --git a/...ware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp b/...ware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp
@@ -81,14 +81,14 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_default_topic{default_topic}
   {
     m_display_type_property = new rviz_common::properties::EnumProperty(
-      "Polygon Type", "3d", "Type of the polygon to display object.");
+      "Polygon Type", "3d", "Type of the polygon to display object.", this);
     // Option values here must correspond to indices in palette_textures_ array in onInitialize()
     // below.
     m_display_type_property->addOption("3d", 0);
     m_display_type_property->addOption("2d", 1);
     m_display_type_property->addOption("Disable", 2);
     m_simple_visualize_mode_property = new rviz_common::properties::EnumProperty(
-      "Visualization Type", "Normal", "Simplicity of the polygon to display object.");
+      "Visualization Type", "Normal", "Simplicity of the polygon to display object.", this);
     m_simple_visualize_mode_property->addOption("Normal", 0);
     m_simple_visualize_mode_property->addOption("Simple", 1);
     // iterate over default values to create and initialize the properties.

diff --git a/control/mpc_lateral_controller/CMakeLists.txt b/control/mpc_lateral_controller/CMakeLists.txt
@@ -11,8 +11,8 @@ ament_auto_add_library(steering_offset_lib SHARED
 set(MPC_LAT_CON_LIB ${PROJECT_NAME}_lib)
 ament_auto_add_library(${MPC_LAT_CON_LIB} SHARED
   src/mpc_lateral_controller.cpp
-  src/interpolate.cpp
   src/lowpass_filter.cpp
+  src/steering_predictor.cpp
   src/mpc.cpp
   src/mpc_trajectory.cpp
   src/mpc_utils.cpp
@@ -29,7 +29,6 @@ if(BUILD_TESTING)
   set(TEST_LAT_SOURCES
     test/test_mpc.cpp
     test/test_mpc_utils.cpp
-    test/test_interpolate.cpp
     test/test_lowpass_filter.cpp
   )
   set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller)

diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/interpolate.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/interpolate.hpp