fix(multi_object_tracker): add setOrientationAvailability method to trackers to fix orientation bug (autowarefoundation#12013)

* fix(multi_object_tracker): add setOrientationAvailability method to trackers

- Implemented setOrientationAvailability in MultipleVehicleTracker and PedestrianAndBicycleTracker to manage orientation availability.
- Updated TrackerBase to include a default implementation of setOrientationAvailability.
- Enhanced vehicle and pedestrian tracking logic to utilize the new orientation availability feature.

This change improves the flexibility of orientation handling across different tracker types.

Signed-off-by: lei.gu <lei.gu@tier4.jp>

* refactor(tracker_base): remove unused tracker includes

- Removed unnecessary includes for MultipleVehicleTracker and PedestrianAndBicycleTracker from tracker_base.cpp to clean up the codebase.

This change helps streamline the tracker base implementation by eliminating unused dependencies.

Signed-off-by: lei.gu <lei.gu@tier4.jp>

---------

Signed-off-by: lei.gu <lei.gu@tier4.jp>

Author: ogrex

perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp

@@ -46,6 +46,8 @@ class MultipleVehicleTracker : public Tracker
   bool getTrackedObject(
     const rclcpp::Time & time, types::DynamicObject & object,
     const bool to_publish = false) const override;
+  void setOrientationAvailability(
+    const types::OrientationAvailability & orientation_availability) override;
   virtual ~MultipleVehicleTracker() {}
 };
 

perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp

@@ -45,6 +45,8 @@ class PedestrianAndBicycleTracker : public Tracker
   bool getTrackedObject(
     const rclcpp::Time & time, types::DynamicObject & object,
     const bool to_publish = false) const override;
+  void setOrientationAvailability(
+    const types::OrientationAvailability & orientation_availability) override;
   virtual ~PedestrianAndBicycleTracker() {}
 };
 

perception/autoware_multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp

@@ -186,6 +186,12 @@ class Tracker
   double computeAdaptiveThreshold(
     double base_threshold, double fallback_threshold, const AdaptiveThresholdCache & cache,
     const std::optional<geometry_msgs::msg::Pose> & ego_pose) const;
+
+  virtual void setOrientationAvailability(
+    const types::OrientationAvailability & orientation_availability)
+  {
+    object_.kinematics.orientation_availability = orientation_availability;
+  }
 };
 
 }  // namespace autoware::multi_object_tracker

perception/autoware_multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp

@@ -66,4 +66,11 @@ bool MultipleVehicleTracker::getTrackedObject(
   return true;
 }
 
+void MultipleVehicleTracker::setOrientationAvailability(
+  const types::OrientationAvailability & orientation_availability)
+{
+  normal_vehicle_tracker_.setOrientationAvailability(orientation_availability);
+  big_vehicle_tracker_.setOrientationAvailability(orientation_availability);
+}
+
 }  // namespace autoware::multi_object_tracker

perception/autoware_multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp

@@ -64,4 +64,11 @@ bool PedestrianAndBicycleTracker::getTrackedObject(
   return true;
 }
 
+void PedestrianAndBicycleTracker::setOrientationAvailability(
+  const types::OrientationAvailability & orientation_availability)
+{
+  pedestrian_tracker_.setOrientationAvailability(orientation_availability);
+  bicycle_tracker_.setOrientationAvailability(orientation_availability);
+}
+
 }  // namespace autoware::multi_object_tracker

perception/autoware_multi_object_tracker/lib/tracker/model/tracker_base.cpp

@@ -162,6 +162,7 @@ bool Tracker::updateWithMeasurement(
     // availability to SIGN_UNKNOWN
     object_.kinematics.orientation_availability = types::OrientationAvailability::SIGN_UNKNOWN;
   }
+  setOrientationAvailability(object_.kinematics.orientation_availability);
 
   // Update object
   measure(object, measurement_time, channel_info);