refactor(autoware_trajectory_optimizer): move functions and change parameter names to accommodate standard

[danielsanchezaran]

refactor(trajectory_optimizer): reorganize plugin utilities into plugin-specific files

Description

This PR refactors the autoware_trajectory_optimizer package by reorganizing plugin utility functions from a central utils.cpp file into plugin-specific utility files. This improves code modularity, maintainability, and makes the codebase easier to navigate.

Changes

Code Organization:

• Moved trajectory extender utility functions to plugin_utils/trajectory_extender_utils.{hpp,cpp}
• Moved trajectory point fixer utility functions to plugin_utils/trajectory_point_fixer_utils.{hpp,cpp}
• Moved spline smoother utility functions to plugin_utils/trajectory_spline_smoother_utils.{hpp,cpp}
• Moved velocity optimizer utility functions to plugin_utils/trajectory_velocity_optimizer_utils.{hpp,cpp}
• Retained utils.cpp for shared utilities used across multiple plugins

Testing:

• Added comprehensive unit tests for each plugin's utility functions:
  • test_trajectory_extender_utils.cpp (344 lines)
  • test_trajectory_point_fixer_utils.cpp (452 lines)
  • test_trajectory_spline_smoother_utils.cpp (143 lines)
  • test_trajectory_velocity_optimizer_utils.cpp (368 lines)
• Created test_utils.hpp with shared test helper functions (148 lines)
• Updated existing tests to work with new structure

Optimizations:

• Fixed unnecessary copy in trajectory processing by using const reference assignment

Benefits

1. Improved Modularity: Each plugin's utility functions are now isolated in their own files, making it easier to understand and modify individual plugins
2. Better Testability: Plugin-specific utilities can now be tested independently with focused unit tests
3. Easier Maintenance: Changes to one plugin's utilities don't require touching a large monolithic utils file
4. Clearer Dependencies: It's now obvious which utilities belong to which plugin

Related links

Parent Issue:

None - Standalone refactoring work

How was this PR tested?

• Built the package successfully with colcon build
• All existing unit tests pass
• Verified in Psim tests

Notes for reviewers

• This is primarily a code reorganization with no functional changes
• The main review focus should be on ensuring all utility functions were moved correctly and no functionality was lost
• New unit tests provide comprehensive coverage of the moved functions
• The central utils.cpp still contains shared utilities used by multiple plugins (trajectory resampling, validation, etc.)

Interface changes

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	trajectory_point_fixer.remove_close_points	boolean	true	Enable removal of close proximity points

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	fix_invalid_points	boolean	true	Remove repeated or invalid points, or points that go against the general trajectory direction
New	use_trajectory_point_fixer	boolean	true	Remove repeated or invalid points, or points that go against the general trajectory direction
Old	extend_trajectory_backward	boolean	false	Extend trajectory backward using ego pose history
New	use_trajectory_extender	boolean	false	Enable trajectory extender to extend trajectory backward using ego pose history
Old	optimize_velocity	boolean	true	Enable velocity profile optimization with jerk filtering and constraint enforcement
New	use_velocity_optimizer	boolean	true	Enable velocity profile optimization with jerk filtering and constraint enforcement
Old	trajectory_point_fixer.min_dist_to_merge_m	number	0.05	Minimum distance threshold for merging close proximity points [m]
New	trajectory_point_fixer.min_dist_to_resample_m	number	0.05	Minimum distance threshold for merging close proximity points [m]

Note: Parameter names were updated to follow consistent naming conventions with use_ prefix for plugin enable flags and clearer semantic naming for distance thresholds.

Effects on system behavior

Minor behavioral improvement:

The trajectory extender now correctly sets both velocity and acceleration fields when prepending ego pose history points, whereas the original implementation only set velocity. This ensures trajectory consistency and prevents discontinuities in the acceleration profile at the junction between historical and planned trajectory segments.

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[Copilot]

Pull request overview

This PR refactors the autoware_trajectory_optimizer package by reorganizing plugin utility functions from a central utils.cpp file into plugin-specific utility files, improving code modularity and maintainability.

Key changes:

• Moved utility functions to plugin-specific files (trajectory_extender_utils, trajectory_point_fixer_utils, trajectory_spline_smoother_utils, trajectory_velocity_optimizer_utils)
• Added comprehensive unit tests for each plugin's utilities (1,307 lines total)
• Renamed ROS parameters for consistency (fix_invalid_points → use_trajectory_point_fixer, optimize_velocity → use_velocity_optimizer, extend_trajectory_backward → use_trajectory_extender, min_dist_to_merge_m → min_dist_to_resample_m)

Reviewed changes

Copilot reviewed 29 out of 29 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
tests/test_utils.hpp	Shared test helper functions for trajectory creation
tests/test_trajectory_velocity_optimizer_utils.cpp	Unit tests for velocity optimizer utilities
tests/test_trajectory_spline_smoother_utils.cpp	Unit tests for spline smoother utilities
tests/test_trajectory_point_fixer_utils.cpp	Unit tests for point fixer utilities
tests/test_trajectory_extender_utils.cpp	Unit tests for trajectory extender utilities
tests/test_trajectory_optimizer.cpp	Removed tests moved to plugin-specific test files
tests/test_trajectory_mpt_optimizer_utils.cpp	Updated to use shared test utilities
src/utils.cpp	Removed plugin-specific utilities, retained shared functions
src/trajectory_optimizer_plugins/*.cpp	Updated to use plugin-specific utility namespaces
src/trajectory_optimizer_plugins/plugin_utils/*.cpp	New plugin-specific utility implementations
include/autoware/trajectory_optimizer/utils.hpp	Removed declarations of moved functions
include/autoware/trajectory_optimizer/trajectory_optimizer_structs.hpp	Updated parameter names
include/autoware/trajectory_optimizer/trajectory_optimizer_plugins/*.hpp	Updated parameter names and added new utility headers
schema/trajectory_optimizer.schema.json	Updated parameter names and descriptions
config/*.yaml	Updated parameter names in configuration files
README.md	Updated parameter reference in documentation
CMakeLists.txt	Added new utility source files

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[codecov]

Codecov Report

❌ Patch coverage is 70.26684% with 234 lines in your changes missing coverage. Please review.
✅ Project coverage is 17.79%. Comparing base (2a1e270) to head (4b700ba).
⚠️ Report is 9 commits behind head on main.

Files with missing lines	Patch %	Lines
...imizer/tests/test_trajectory_point_fixer_utils.cpp	70.28%	0 Missing and 63 partials ⚠️
...tests/test_trajectory_velocity_optimizer_utils.cpp	72.10%	0 Missing and 41 partials ⚠️
...ugin_utils/trajectory_velocity_optimizer_utils.cpp	56.17%	39 Missing ⚠️
...optimizer/tests/test_trajectory_extender_utils.cpp	78.10%	0 Missing and 30 partials ⚠️
.../plugin_utils/trajectory_spline_smoother_utils.cpp	57.57%	8 Missing and 6 partials ⚠️
...er/tests/test_trajectory_spline_smoother_utils.cpp	64.86%	0 Missing and 13 partials ⚠️
...ctory_optimizer_plugins/trajectory_point_fixer.cpp	0.00%	12 Missing ⚠️
..._trajectory_optimizer/src/trajectory_optimizer.cpp	0.00%	8 Missing ⚠️
...ptimizer_plugins/trajectory_velocity_optimizer.cpp	0.00%	6 Missing ⚠️
...ajectory_optimizer_plugins/trajectory_extender.cpp	0.00%	4 Missing ⚠️
... and 2 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #11760      +/-   ##
==========================================
+ Coverage   17.46%   17.79%   +0.32%     
==========================================
  Files        1827     1836       +9     
  Lines      125897   126531     +634     
  Branches    43190    43457     +267     
==========================================
+ Hits        21988    22516     +528     
- Misses      85522    85649     +127     
+ Partials    18387    18366      -21     

Flag	Coverage Δ		*Carryforward flag
daily	19.96% <ø> (-0.09%)	⬇️	Carriedforward from 2a1e270
daily-cuda	17.60% <ø> (-0.09%)	⬇️	Carriedforward from 2a1e270
differential	16.54% <70.26%> (?)
total-cuda	17.60% <ø> (-0.09%)	⬇️	Carriedforward from 2a1e270

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

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