feat(accel_brake_map_calibrator): add new Recursive Least Square method

[td12321]

Description

For accel_map_calibrator, implemented a new method to execute Recursive Least Squares on 4 points around new data.

Related links

Gabrielle Lochrie, Michael Doljevic, Mario Nona, Yongsoon Yoon, Anti-Windup Recursive Least Squares Method for Adaptive Lookup Tables with Application to Automotive Powertrain Control Systems, IFAC-PapersOnLine, Volume 54, Issue 20, 2021, Pages 840-845

Tests performed

run accel_brake_map_calibrator and play a rosbag data.

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[TakaHoribe]

I rebased to autowarefoundation/main. The original code was saved in my fork just for in case. https://github.com/TakaHoribe/autoware.universe/tree/feature/improve_map_calibrator-ORIGINAL

[codecov[bot]]

Codecov Report

Base: 10.82% // Head: 10.36% // Decreases project coverage by -0.46% :warning:

Coverage data is based on head (f08ea59) compared to base (e009b13). Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1255      +/-   ##
==========================================
- Coverage   10.82%   10.36%   -0.47%     
==========================================
  Files        1178     1170       -8     
  Lines       84624    84005     -619     
  Branches    19947    19581     -366     
==========================================
- Hits         9159     8704     -455     
- Misses      65756    65795      +39     
+ Partials     9709     9506     -203     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.39% <0.00%> (-0.41%)	:arrow_down:	Carriedforward from af09aa7

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...map_calibrator/accel_brake_map_calibrator_node.hpp	0.00% <ø> (ø)
...calibrator/src/accel_brake_map_calibrator_node.cpp	0.00% <0.00%> (ø)
...lude/freespace_planning_algorithms/reeds_shepp.hpp	50.00% <0.00%> (-50.00%)	:arrow_down:
.../freespace_planning_algorithms/src/reeds_shepp.cpp	55.51% <0.00%> (-38.97%)	:arrow_down:
...ehicle/raw_vehicle_cmd_converter/src/brake_map.cpp	17.85% <0.00%> (-27.31%)	:arrow_down:
...eespace_planning_algorithms/abstract_algorithm.hpp	44.44% <0.00%> (-25.56%)	:arrow_down:
...lude/behavior_path_planner/turn_signal_decider.hpp	25.00% <0.00%> (-25.00%)	:arrow_down:
...ehicle/raw_vehicle_cmd_converter/src/accel_map.cpp	19.23% <0.00%> (-20.06%)	:arrow_down:
...hicle/raw_vehicle_cmd_converter/src/csv_loader.cpp	53.84% <0.00%> (-11.07%)	:arrow_down:
...ace_planning_algorithms/src/abstract_algorithm.cpp	78.16% <0.00%> (-5.54%)	:arrow_down:
... and 173 more

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[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[shmpwk]

spell miss https://github.com/autowarefoundation/autoware.universe/actions/runs/3239609749/jobs/5309193223

I fixed it by https://github.com/autowarefoundation/autoware.universe/pull/1255/commits/a39884bef566f56b863ed79c2304414606da2e19

[shmpwk]

LGTM!

accel_map.csv brake_map.csv

(For TIER IV internal infomation) I calibrated them using the 10min rosbags (2022.10.12) from dd0a1334-760f-4ed1-84dc-9d12cf23baf5_2022-10-12-16-24-14_0.db3 to dd0a1334-760f-4ed1-84dc-9d12cf23baf5_2022-10-12-16-24-14_10.db3