From 5e348db7bcab0692a83b55b3b2775e6aaf691bbd Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Sat, 9 Sep 2023 22:54:10 +0900
Subject: [PATCH] remove tier4_autoware_utils.hpp/motion_utils.hpp from
 freespace/route_handler

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../include/behavior_path_planner/data_manager.hpp          | 1 +
 .../drivable_area_expansion/drivable_area_expansion.cpp     | 3 +++
 planning/behavior_path_planner/test/test_turn_signal.cpp    | 4 ++++
 planning/behavior_velocity_out_of_lane_module/src/debug.cpp | 2 ++
 .../behavior_velocity_out_of_lane_module/src/decisions.cpp  | 4 ++++
 planning/freespace_planner/package.xml                      | 1 +
 .../src/freespace_planner/freespace_planner_node.cpp        | 3 ++-
 .../src/abstract_algorithm.cpp                              | 3 ++-
 planning/freespace_planning_algorithms/src/astar_search.cpp | 3 ++-
 .../src/lanelet2_plugins/default_planner.cpp                | 6 +++++-
 .../src/lanelet2_plugins/utility_functions.hpp              | 2 --
 .../mission_planner/src/mission_planner/arrival_checker.cpp | 4 +++-
 .../route_handler/include/route_handler/route_handler.hpp   | 2 --
 planning/route_handler/package.xml                          | 1 -
 planning/route_handler/src/route_handler.cpp                | 1 +
 .../include/static_centerline_optimizer/type_alias.hpp      | 1 +
 16 files changed, 31 insertions(+), 10 deletions(-)

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
index 9217e139d218c..a144aa12704a8 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
@@ -19,6 +19,7 @@
 #include "behavior_path_planner/turn_signal_decider.hpp"
 #include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
 
+#include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
 
diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
index 0fcb0acfcb000..52be0ac5a81ef 100644
--- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
+++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
@@ -22,7 +22,10 @@
 
 #include <Eigen/Geometry>
 #include <interpolation/linear_interpolation.hpp>
+#include <motion_utils/resample/resample.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
 
 #include <boost/geometry.hpp>
 
diff --git a/planning/behavior_path_planner/test/test_turn_signal.cpp b/planning/behavior_path_planner/test/test_turn_signal.cpp
index 8c6f8de7ee6a0..a48c8a6b0d976 100644
--- a/planning/behavior_path_planner/test/test_turn_signal.cpp
+++ b/planning/behavior_path_planner/test/test_turn_signal.cpp
@@ -13,6 +13,10 @@
 // limitations under the License.
 #include "behavior_path_planner/turn_signal_decider.hpp"
 
+#include <motion_utils/trajectory/trajectory.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
+
 #include "autoware_auto_planning_msgs/msg/path_point.hpp"
 
 #include <gmock/gmock.h>
diff --git a/planning/behavior_velocity_out_of_lane_module/src/debug.cpp b/planning/behavior_velocity_out_of_lane_module/src/debug.cpp
index 475e341d76528..0574a5226dc4a 100644
--- a/planning/behavior_velocity_out_of_lane_module/src/debug.cpp
+++ b/planning/behavior_velocity_out_of_lane_module/src/debug.cpp
@@ -14,6 +14,8 @@
 
 #include "debug.hpp"
 
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
+
 #include <visualization_msgs/msg/marker.hpp>
 
 namespace behavior_velocity_planner::out_of_lane::debug
diff --git a/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp b/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp
index 46db7a53b5c81..2ebfa4ecbe431 100644
--- a/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp
+++ b/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp
@@ -15,6 +15,10 @@
 #include "decisions.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/trajectory/trajectory.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <algorithm>
 #include <limits>
diff --git a/planning/freespace_planner/package.xml b/planning/freespace_planner/package.xml
index a748b7f80c9ad..f92c0a449970d 100644
--- a/planning/freespace_planner/package.xml
+++ b/planning/freespace_planner/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_auto_planning_msgs</depend>
   <depend>freespace_planning_algorithms</depend>
   <depend>geometry_msgs</depend>
+  <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
   <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
index e0d7f86e45245..025cc32d4ed24 100644
--- a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
+++ b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
@@ -32,7 +32,8 @@
 
 #include "freespace_planning_algorithms/abstract_algorithm.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/trajectory.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <algorithm>
 #include <deque>
diff --git a/planning/freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/freespace_planning_algorithms/src/abstract_algorithm.cpp
index 159c0df82fcc3..2c7340072eb53 100644
--- a/planning/freespace_planning_algorithms/src/abstract_algorithm.cpp
+++ b/planning/freespace_planning_algorithms/src/abstract_algorithm.cpp
@@ -14,7 +14,8 @@
 
 #include "freespace_planning_algorithms/abstract_algorithm.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
 
 #include <vector>
 
diff --git a/planning/freespace_planning_algorithms/src/astar_search.cpp b/planning/freespace_planning_algorithms/src/astar_search.cpp
index b2b2321adacd0..1ab5e9d5df487 100644
--- a/planning/freespace_planning_algorithms/src/astar_search.cpp
+++ b/planning/freespace_planning_algorithms/src/astar_search.cpp
@@ -14,7 +14,8 @@
 
 #include "freespace_planning_algorithms/astar_search.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <tf2/utils.h>
 
diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
index d8289824e517c..979800aea0754 100644
--- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
+++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
@@ -20,7 +20,11 @@
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/trajectory.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp
index 0bfb0553e75ef..3ea6237f38501 100644
--- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp
+++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp
@@ -15,8 +15,6 @@
 #ifndef LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_
 #define LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_
 
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
-
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
diff --git a/planning/mission_planner/src/mission_planner/arrival_checker.cpp b/planning/mission_planner/src/mission_planner/arrival_checker.cpp
index ac7a37acd4d5b..1e9f02ff0338d 100644
--- a/planning/mission_planner/src/mission_planner/arrival_checker.cpp
+++ b/planning/mission_planner/src/mission_planner/arrival_checker.cpp
@@ -14,7 +14,9 @@
 
 #include "arrival_checker.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <tf2/utils.h>
 
diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp
index 847c8db3b16a9..6bd9756098558 100644
--- a/planning/route_handler/include/route_handler/route_handler.hpp
+++ b/planning/route_handler/include/route_handler/route_handler.hpp
@@ -16,9 +16,7 @@
 #define ROUTE_HANDLER__ROUTE_HANDLER_HPP_
 
 #include <lanelet2_extension/utility/query.hpp>
-#include <motion_utils/motion_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_planning_msgs/msg/path.hpp>
diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml
index ef2051d1b244a..6304e21932676 100644
--- a/planning/route_handler/package.xml
+++ b/planning/route_handler/package.xml
@@ -24,7 +24,6 @@
   <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
-  <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>
diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp
index 6a95434c81c23..3d9dd8fe7a64a 100644
--- a/planning/route_handler/src/route_handler.cpp
+++ b/planning/route_handler/src/route_handler.cpp
@@ -19,6 +19,7 @@
 #include <lanelet2_extension/utility/route_checker.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/Lanelet.h>
diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp
index 5798c19d0d563..1a700d36deaaf 100644
--- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp
+++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp
@@ -15,6 +15,7 @@
 #define STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
 
 #include "route_handler/route_handler.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp"
 #include "autoware_auto_perception_msgs/msg/predicted_objects.hpp"