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chore(build): remove tier4_autoware_utils.hpp/motion_utils.hpp from behavior_path_planner #4936

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merged 4 commits into from
Sep 10, 2023
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chore(build): remove tier4_autoware_utils.hpp/motion_utils.hpp from behavior_path_planner #4936

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3ff3195
remove tier4_autoware_utils.hpp/motion_utils.hpp from behavior_path_p…
soblin Sep 9, 2023
7e5a2d3
style(pre-commit): autofix
pre-commit-ci[bot] Sep 9, 2023
c807964
fix
soblin Sep 9, 2023
b715633
fixed test
soblin Sep 10, 2023
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
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#include "behavior_path_planner/parameters.hpp"
#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 <motion_utils/trajectory/trajectory.hpp>
#include <rclcpp/rclcpp.hpp>
#include <route_handler/route_handler.hpp>

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3 changes: 1 addition & 2 deletions planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp
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#include "behavior_path_planner/data_manager.hpp"
#include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
#include "tier4_autoware_utils/tier4_autoware_utils.hpp"

#include <tier4_autoware_utils/ros/marker_helper.hpp>
#include <tier4_autoware_utils/geometry/boost_geometry.hpp>

#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
#include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
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#include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
#include "behavior_path_planner/utils/lane_following/module_data.hpp"
#include "tier4_autoware_utils/system/stop_watch.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>
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5 changes: 5 additions & 0 deletions ...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
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#include <behavior_path_planner/steering_factor_interface.hpp>
#include <behavior_path_planner/turn_signal_decider.hpp>
#include <magic_enum.hpp>
#include <motion_utils/marker/marker_helper.hpp>
#include <motion_utils/trajectory/path_with_lane_id.hpp>
#include <motion_utils/trajectory/trajectory.hpp>
#include <rclcpp/rclcpp.hpp>
#include <route_handler/route_handler.hpp>
#include <rtc_interface/rtc_interface.hpp>
#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/ros/marker_helper.hpp>
#include <tier4_autoware_utils/ros/uuid_helper.hpp>

#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
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3 changes: 2 additions & 1 deletion ...vior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
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#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"

#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <tier4_autoware_utils/geometry/boost_geometry.hpp>

#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>

#include <lanelet2_core/geometry/Lanelet.h>
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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
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#include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
#include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
#include "motion_utils/motion_utils.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
#include "object_recognition_utils/predicted_path_utils.hpp"

#include <route_handler/route_handler.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <tier4_autoware_utils/geometry/boost_geometry.hpp>

#include <autoware_auto_perception_msgs/msg/object_classification.hpp>
#include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"

#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <tier4_autoware_utils/ros/update_param.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>

#include <tier4_planning_msgs/msg/path_change_module_id.hpp>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
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#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <magic_enum.hpp>

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3 changes: 2 additions & 1 deletion planning/behavior_path_planner/src/marker_utils/utils.cpp
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#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"

#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/ros/marker_helper.hpp>

#include <tier4_autoware_utils/ros/uuid_helper.hpp>
namespace marker_utils
{
using behavior_path_planner::ShiftLine;
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/planner_manager.cpp
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#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"
#include "tier4_autoware_utils/system/stop_watch.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <magic_enum.hpp>
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5 changes: 4 additions & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/ros/marker_helper.hpp>
#include <tier4_autoware_utils/ros/uuid_helper.hpp>

#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp
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#include "behavior_path_planner/scene_module/avoidance/manager.hpp"

#include "tier4_autoware_utils/ros/parameter.hpp"
#include "tier4_autoware_utils/ros/update_param.hpp"

#include <rclcpp/rclcpp.hpp>

#include <memory>
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2 changes: 1 addition & 1 deletion ...ing/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
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#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>

#include <algorithm>
#include <limits>
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
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#include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"

#include "tier4_autoware_utils/ros/update_param.hpp"

#include <rclcpp/rclcpp.hpp>

#include <memory>
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3 changes: 1 addition & 2 deletions planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
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#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"
#include "tier4_autoware_utils/math/unit_conversion.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <magic_enum.hpp>
#include <motion_utils/motion_utils.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>

#include <algorithm>
#include <limits>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp
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#include "behavior_path_planner/scene_module/goal_planner/manager.hpp"

#include "behavior_path_planner/utils/goal_planner/util.hpp"
#include "tier4_autoware_utils/ros/update_param.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/rclcpp.hpp>

#include <memory>
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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
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#include "behavior_path_planner/scene_module/lane_change/manager.hpp"

#include "tier4_autoware_utils/ros/parameter.hpp"
#include "tier4_autoware_utils/ros/update_param.hpp"

#include <rclcpp/rclcpp.hpp>

#include <memory>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
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#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>

#include <algorithm>
#include <limits>
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp
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#include "behavior_path_planner/scene_module/side_shift/manager.hpp"

#include "tier4_autoware_utils/ros/update_param.hpp"

#include <rclcpp/rclcpp.hpp>

#include <memory>
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp
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#include "behavior_path_planner/scene_module/start_planner/manager.hpp"

#include "tier4_autoware_utils/ros/update_param.hpp"

#include <rclcpp/rclcpp.hpp>

#include <memory>
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1 change: 0 additions & 1 deletion planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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#include <lanelet2_extension/utility/utilities.hpp>
#include <magic_enum.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>

#include <algorithm>
#include <memory>
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6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/turn_signal_decider.cpp
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#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <motion_utils/constants.hpp>
#include <motion_utils/resample/resample.hpp>
#include <motion_utils/trajectory/path_with_lane_id.hpp>
#include <motion_utils/trajectory/trajectory.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 <limits>
#include <string>
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6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/utils/avoidance/utils.cpp
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#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance/utils.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"
#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"

#include <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <motion_utils/trajectory/interpolation.hpp>
#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/ros/uuid_helper.hpp>

#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>

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3 changes: 2 additions & 1 deletion ...behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
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#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/start_planner/util.hpp"
#include "behavior_path_planner/utils/utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"
#include "tier4_autoware_utils/geometry/geometry.hpp"
#include "tier4_autoware_utils/math/unit_conversion.hpp"

#include <interpolation/spline_interpolation.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>

#ifdef ROS_DISTRO_GALACTIC
#include <tf2_eigen/tf2_eigen.h>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp
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#include "behavior_path_planner/utils/goal_planner/util.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"
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replace with #include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>


#include <memory>
#include <vector>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
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#include "behavior_path_planner/utils/goal_planner/util.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
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#include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "lanelet2_extension/utility/utilities.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <boost/geometry/algorithms/union.hpp>
#include <boost/optional.hpp>

#include <memory>
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
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#include "behavior_path_planner/utils/goal_planner/util.hpp"
#include "behavior_path_planner/utils/path_utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
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3 changes: 3 additions & 0 deletions planning/behavior_path_planner/src/utils/lane_change/utils.cpp
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#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <motion_utils/trajectory/interpolation.hpp>
#include <motion_utils/trajectory/path_with_lane_id.hpp>
#include <motion_utils/trajectory/trajectory.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>

#include <lanelet2_core/LaneletMap.h>
#include <tf2/utils.h>
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2 changes: 1 addition & 1 deletion ...utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
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#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"

#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <tier4_autoware_utils/math/normalization.hpp>

#include <vector>

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4 changes: 4 additions & 0 deletions planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
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#include "behavior_path_planner/utils/utils.hpp"

#include <motion_utils/trajectory/interpolation.hpp>
#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>

namespace behavior_path_planner::utils::path_safety_checker
{

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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
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#include "behavior_path_planner/marker_utils/utils.hpp"
#include "interpolation/linear_interpolation.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"
#include "motion_utils/trajectory/trajectory.hpp"
#include "object_recognition_utils/predicted_path_utils.hpp"
#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"

namespace behavior_path_planner::utils::path_safety_checker
{
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
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#include <interpolation/spline_interpolation.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <motion_utils/trajectory/path_with_lane_id.hpp>

#include <limits>
#include <string>
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4 changes: 3 additions & 1 deletion planning/behavior_path_planner/src/utils/path_utils.cpp
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#include "behavior_path_planner/utils/path_utils.hpp"

#include "behavior_path_planner/utils/utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <interpolation/spline_interpolation.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <motion_utils/resample/resample.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
#include <motion_utils/trajectory/interpolation.hpp>
#include <tier4_autoware_utils/geometry/geometry.hpp>

#include <tf2/utils.h>

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2 changes: 2 additions & 0 deletions planning/behavior_path_planner/src/utils/start_goal_planner_common/utils.cpp
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#include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"

#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>

namespace behavior_path_planner::utils::start_goal_planner_common
{

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3 changes: 2 additions & 1 deletion planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp
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// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// distributed under the License is distributed on an "AS IS" BASIS,s
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
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#include "behavior_path_planner/utils/utils.hpp"

#include <lanelet2_extension/utility/utilities.hpp>
#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>

using lanelet::utils::getArcCoordinates;
using motion_utils::findNearestIndex;
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1 change: 1 addition & 0 deletions planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp
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Expand Up @@ -18,6 +18,7 @@
#include "behavior_path_planner/utils/path_utils.hpp"
#include "behavior_path_planner/utils/start_planner/util.hpp"
#include "behavior_path_planner/utils/utils.hpp"
#include "motion_utils/trajectory/path_with_lane_id.hpp"

#include <lanelet2_extension/utility/utilities.hpp>

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