From 1ee87a34f83f3ac4ceb2c74faa5017d3af0b35be Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Fri, 22 Sep 2023 16:08:51 +0300
Subject: [PATCH] can work now

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
---
 .../include/predicted_path_checker/utils.hpp               | 7 ++++---
 .../src/predicted_path_checker_node/debug_marker.cpp       | 6 +++---
 .../src/predicted_path_checker_node/utils.cpp              | 4 ++++
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp
index 11abea97abea6..75e90e624a17e 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp
@@ -17,7 +17,7 @@
 
 #include <interpolation/linear_interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
@@ -26,6 +26,9 @@
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
+#include <boost/geometry/algorithms/convex_hull.hpp>
+#include <boost/geometry/algorithms/correct.hpp>
+#include <boost/geometry/algorithms/distance.hpp>
 #include <boost/optional.hpp>
 
 #include <map>
@@ -39,8 +42,6 @@ namespace utils
 using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::TrajectoryPoint;
-using diagnostic_msgs::msg::DiagnosticStatus;
-using diagnostic_msgs::msg::KeyValue;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::TransformStamped;
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp
index 4b7b2b70ebef9..3fb7b69d531c0 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp
@@ -14,9 +14,9 @@
 
 #include "predicted_path_checker/debug_marker.hpp"
 
-#include <motion_utils/motion_utils.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
+#include <motion_utils/marker/marker_helper.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp
index 91bae96eca973..9cb095e908d41 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp
@@ -14,6 +14,10 @@
 
 #include "predicted_path_checker/utils.hpp"
 
+#include <boost/format.hpp>
+#include <boost/geometry/algorithms/convex_hull.hpp>
+#include <boost/geometry/strategies/agnostic/hull_graham_andrew.hpp>
+
 namespace utils
 {