Fix typos in planning modules (autowarefoundation#866) (autowarefound…

…ation#275)

* fix typos in planning

* fix corresponding typos in planning

* revert fixed typos temporarily due to its impact on launchers

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

planning/scenario_planning/parking/astar_search/include/astar_search/astar_search.hpp

@@ -94,7 +94,7 @@ struct NodeUpdate
     return result;
   }
 
-  NodeUpdate fliped() const
+  NodeUpdate flipped() const
   {
     NodeUpdate result = *this;
     result.shift_y = -result.shift_y;
@@ -131,7 +131,7 @@ struct AstarParam
   double minimum_turning_radius;  // [m]]
 
   // search configs
-  int theta_size;                  // descritized angle table size [-]
+  int theta_size;                  // discretized angle table size [-]
   double curve_weight;             // curve moving cost [-]
   double reverse_weight;           // backward moving cost [-]
   double lateral_goal_range;       // reaching threshold, lateral error [m]

planning/scenario_planning/parking/astar_search/src/astar_search.cpp

@@ -67,7 +67,7 @@ geometry_msgs::msg::Pose calcRelativePose(
   return transformed.pose;
 }
 
-int descretizeAngle(const double theta, const int theta_size)
+int discretizeAngle(const double theta, const int theta_size)
 {
   const double one_angle_range = 2.0 * M_PI / theta_size;
   return static_cast<int>(normalizeRadian(theta, 0, 2 * M_PI) / one_angle_range) % theta_size;
@@ -103,7 +103,7 @@ IndexXYT pose2index(
 {
   const int index_x = pose_local.position.x / costmap.info.resolution;
   const int index_y = pose_local.position.y / costmap.info.resolution;
-  const int index_theta = descretizeAngle(tf2::getYaw(pose_local.orientation), theta_size);
+  const int index_theta = discretizeAngle(tf2::getYaw(pose_local.orientation), theta_size);
   return {index_x, index_y, index_theta};
 }
 
@@ -156,7 +156,7 @@ AstarSearch::TransitionTable createTransitionTable(
   // NodeUpdate actions
   const NodeUpdate forward_straight{step, 0.0, 0.0, step, false, false};
   const NodeUpdate forward_left{R * sin(dtheta), R * (1 - cos(dtheta)), dtheta, step, true, false};
-  const NodeUpdate forward_right = forward_left.fliped();
+  const NodeUpdate forward_right = forward_left.flipped();
   const NodeUpdate backward_straight = forward_straight.reversed();
   const NodeUpdate backward_left = forward_left.reversed();
   const NodeUpdate backward_right = forward_right.reversed();
@@ -307,7 +307,7 @@ bool AstarSearch::search()
     }
 
     // Transit
-    const auto index_theta = descretizeAngle(current_node->theta, astar_param_.theta_size);
+    const auto index_theta = discretizeAngle(current_node->theta, astar_param_.theta_size);
     for (const auto & transition : transition_table_[index_theta]) {
       const bool is_turning_point = transition.is_back != current_node->is_back;
       const double move_cost =

planning/scenario_planning/parking/costmap_generator/include/costmap_generator/costmap_generator.hpp

@@ -133,7 +133,7 @@ class CostmapGenerator : public rclcpp::Node
   /// \brief wait for lanelet2 map to load and build routing graph
   void initLaneletMap();
 
-  /// \brief callback for loading landlet2 map
+  /// \brief callback for loading lanelet2 map
   void onLaneletMapBin(const autoware_lanelet2_msgs::msg::MapBin::ConstSharedPtr msg);
 
   /// \brief callback for DynamicObjectArray
@@ -142,7 +142,7 @@ class CostmapGenerator : public rclcpp::Node
   void onObjects(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg);
 
   /// \brief callback for sensor_msgs::PointCloud2
-  /// \param[in] in_points input sensot_msgs::PointCloud2. Assuming groud-fitered pointcloud
+  /// \param[in] in_points input sensor_msgs::PointCloud2. Assuming ground-filtered pointcloud
   /// by default
   void onPoints(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
 

planning/scenario_planning/parking/costmap_generator/include/costmap_generator/points_to_costmap.hpp

@@ -111,7 +111,7 @@ class PointsToCostmap
   /// \param[in] gridmap: costmap based on gridmap
   /// \param[in] gridmap_layer_name: gridmap layer name for gridmap
   /// \param[in] grid_vec: grid-x-length x grid-y-length size grid stuffed with point's height in
-  /// corresponding grid cell \param[out] caculated costmap in grid_map::Matrix format
+  /// corresponding grid cell \param[out] calculated costmap in grid_map::Matrix format
   grid_map::Matrix calculateCostmap(
     const double maximum_height_thres, const double minimum_lidar_height_thres,
     const double grid_min_value, const double grid_max_value, const grid_map::GridMap & gridmap,

planning/scenario_planning/parking/freespace_planner/src/freespace_planner/freespace_planner_node.cpp

@@ -452,7 +452,7 @@ void AstarNavi::onTimer()
   if (isPlanRequired()) {
     reset();
 
-    // Stop before planning new trajectoryg
+    // Stop before planning new trajectory
     const auto stop_trajectory = createStopTrajectory(current_pose_);
     trajectory_pub_->publish(stop_trajectory);
     debug_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory));