refactor(behavior_path_planner): remove unrelated header file (autowa…

…refoundation#1593) * refactor(behavior_path_planner): remove unrelated header file Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Remove some header from behavior_path_planner_node.hpp/cpp Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell checks Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
tzhong518 · Oct 14, 2022 · a5acec7 · a5acec7
1 parent fd7b2f1
commit a5acec7
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Showing 29 changed files with 51 additions and 185 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -17,15 +17,14 @@
 
 #include "behavior_path_planner/behavior_tree_manager.hpp"
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp"
+#include "behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/scene_module/lane_change/lane_change_module.hpp"
 #include "behavior_path_planner/scene_module/lane_following/lane_following_module.hpp"
 #include "behavior_path_planner/scene_module/pull_out/pull_out_module.hpp"
 #include "behavior_path_planner/scene_module/pull_over/pull_over_module.hpp"
 #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
 
-#include <route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
@@ -38,18 +37,9 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_planning_msgs/msg/approval.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 #include <tier4_planning_msgs/msg/path_change_module.hpp>
-#include <tier4_planning_msgs/msg/path_change_module_array.hpp>
-#include <tier4_planning_msgs/msg/path_change_module_id.hpp>
 #include <tier4_planning_msgs/msg/scenario.hpp>
-#include <tier4_planning_msgs/msg/stop_reason_array.hpp>
-
-#include <lanelet2_core/LaneletMap.h>
-#include <lanelet2_routing/RoutingGraph.h>
-#include <lanelet2_traffic_rules/TrafficRulesFactory.h>
 
 #include <memory>
 #include <mutex>
@@ -69,12 +59,8 @@ using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
-using route_handler::RouteHandler;
-using tier4_planning_msgs::msg::AvoidanceDebugFactor;
-using tier4_planning_msgs::msg::AvoidanceDebugMsg;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using tier4_planning_msgs::msg::PathChangeModule;
-using tier4_planning_msgs::msg::PathChangeModuleArray;
 using tier4_planning_msgs::msg::Scenario;
 using visualization_msgs::msg::MarkerArray;
 
@@ -160,8 +146,6 @@ class BehaviorPathPlannerNode : public rclcpp::Node
     const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const;
 
   // debug
-
-private:
   rclcpp::Publisher<OccupancyGrid>::SharedPtr debug_drivable_area_publisher_;
   rclcpp::Publisher<MarkerArray>::SharedPtr debug_drivable_area_lanelets_publisher_;
   rclcpp::Publisher<Path>::SharedPtr debug_path_publisher_;

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_tree_manager.hpp
@@ -18,8 +18,6 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp"
 
-#include <route_handler/route_handler.hpp>
-
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <behaviortree_cpp_v3/behavior_tree.h>
@@ -29,8 +27,6 @@
 
 #include <memory>
 #include <string>
-#include <tuple>
-#include <unordered_map>
 #include <vector>
 
 namespace behavior_path_planner

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
@@ -23,12 +23,9 @@
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/twist_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
-#include <lanelet2_core/LaneletMap.h>
-#include <lanelet2_routing/RoutingGraph.h>
-#include <lanelet2_traffic_rules/TrafficRulesFactory.h>
+#include <lanelet2_core/geometry/Lanelet.h>
 
 #include <memory>
 #include <string>
@@ -38,7 +35,6 @@ namespace behavior_path_planner
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::PoseStamped;
-using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using route_handler::RouteHandler;

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp
@@ -14,9 +14,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__DEBUG_UTILITIES_HPP_
 #define BEHAVIOR_PATH_PLANNER__DEBUG_UTILITIES_HPP_
 
-#include "behavior_path_planner/path_utilities.hpp"
 #include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
-#include "behavior_path_planner/utilities.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
@@ -25,9 +23,7 @@
 #include <geometry_msgs/msg/polygon.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <lanelet2_core/LaneletMap.h>
-#include <lanelet2_routing/RoutingGraph.h>
-#include <tf2/utils.h>
+#include <lanelet2_core/geometry/Lanelet.h>
 
 #include <string>
 #include <vector>

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp
@@ -17,30 +17,19 @@
 
 #include <behavior_path_planner/parameters.hpp>
 #include <behavior_path_planner/scene_module/utils/path_shifter.hpp>
-#include <opencv2/opencv.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <geometry_msgs/msg/point.hpp>
 
-#include <boost/geometry/geometries/box.hpp>
-#include <boost/geometry/geometries/point_xy.hpp>
-#include <boost/geometry/geometries/polygon.hpp>
-#include <boost/geometry/geometry.hpp>
-
 #include <lanelet2_core/geometry/Lanelet.h>
-#include <lanelet2_routing/Route.h>
-#include <lanelet2_routing/RoutingGraph.h>
-#include <lanelet2_routing/RoutingGraphContainer.h>
 
 #include <limits>
 #include <utility>
 #include <vector>
 
-namespace behavior_path_planner
-{
-namespace util
+namespace behavior_path_planner::util
 {
 using autoware_auto_planning_msgs::msg::Path;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
@@ -69,7 +58,6 @@ std::pair<TurnIndicatorsCommand, double> getPathTurnSignal(
   const ShiftPoint & shift_point, const Pose & pose, const double & velocity,
   const BehaviorPathPlannerParameters & common_parameter);
 
-}  // namespace util
-}  // namespace behavior_path_planner
+}  // namespace behavior_path_planner::util
 
 #endif  // BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_
diff --git a/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
@@ -21,22 +21,19 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
-#include <autoware_auto_planning_msgs/msg/path.hpp>
+#include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 
 #include <memory>
 #include <string>
-#include <tuple>
 #include <utility>
 #include <vector>
 
 namespace behavior_path_planner
 {
+using tier4_planning_msgs::msg::AvoidanceDebugMsg;
 class AvoidanceModule : public SceneModuleInterface
 {
   using RegisteredShiftPointArray = std::vector<std::pair<UUID, Pose>>;
@@ -207,7 +204,7 @@ class AvoidanceModule : public SceneModuleInterface
 
   // -- for shift point operations --
   void alignShiftPointsOrder(
-    AvoidPointArray & shift_points, const bool recalc_start_length = true) const;
+    AvoidPointArray & shift_points, const bool recalculate_start_length = true) const;
   AvoidPointArray fillAdditionalInfo(const AvoidPointArray & shift_points) const;
   AvoidPoint fillAdditionalInfo(const AvoidPoint & shift_point) const;
   void fillAdditionalInfoFromPoint(AvoidPointArray & shift_points) const;

diff --git a/...th_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp b/...th_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp
@@ -20,30 +20,24 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
-#include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 
+#include <lanelet2_core/geometry/Lanelet.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
 namespace behavior_path_planner
 {
 using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 
-using tier4_planning_msgs::msg::AvoidanceDebugFactor;
-using tier4_planning_msgs::msg::AvoidanceDebugMsg;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
-using geometry_msgs::msg::PoseStamped;
 
 struct AvoidanceParameters
 {

diff --git a/...ior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp b/...ior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp
@@ -20,7 +20,6 @@
 
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner

diff --git a/...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
@@ -17,19 +17,13 @@
 
 #include "behavior_path_planner/scene_module/lane_change/lane_change_path.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/utilities.hpp"
 
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
 
 #include <tf2/utils.h>
 
-#include <memory>
 #include <string>
 #include <utility>
 #include <vector>

diff --git a/...anner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp b/...anner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp
@@ -17,14 +17,11 @@
 
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 
-#include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
-#include <memory>
 #include <string>
-#include <utility>
 
 namespace behavior_path_planner
 {

diff --git a/...vior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/...vior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
@@ -18,16 +18,11 @@
 #include "behavior_path_planner/scene_module/pull_out/pull_out_path.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
-#include "behavior_path_planner/utilities.hpp"
 
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
 #include <vehicle_info_util/vehicle_info.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
-#include <tf2/utils.h>
-
 #include <memory>
 #include <string>
 #include <utility>

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/util.hpp
@@ -16,22 +16,19 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__UTIL_HPP_
 
 #include "behavior_path_planner/scene_module/pull_out/pull_out_module.hpp"
-#include "behavior_path_planner/utilities.hpp"
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <geometry_msgs/msg/pose_stamped.hpp>
-#include <geometry_msgs/msg/twist_stamped.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <geometry_msgs/msg/twist.hpp>
 
 #include <lanelet2_core/primitives/Primitive.h>
 
 #include <memory>
 #include <vector>
 
-namespace behavior_path_planner
-{
-namespace pull_out_utils
+namespace behavior_path_planner::pull_out_utils
 {
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::PredictedPath;
@@ -83,7 +80,6 @@ bool hasEnoughDistance(
   const bool isInGoalRouteSection, const Pose & goal_pose,
   const lanelet::routing::RoutingGraphContainer & overall_graphs);
 bool isObjectFront(const Pose & ego_pose, const Pose & obj_pose);
-}  // namespace pull_out_utils
-}  // namespace behavior_path_planner
+}  // namespace behavior_path_planner::pull_out_utils
 
 #endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__UTIL_HPP_
diff --git a/...or_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp b/...or_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp
@@ -19,32 +19,24 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp"
 #include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_planner/scene_module/utils/path_shifter.hpp"
-#include "behavior_path_planner/utilities.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
-#include <lanelet2_extension/utility/message_conversion.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
 
-#include <tf2/utils.h>
-
 #include <deque>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-using nav_msgs::msg::OccupancyGrid;
-
 namespace behavior_path_planner
 {
 using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
 using geometry_msgs::msg::PoseArray;
 using lane_departure_checker::LaneDepartureChecker;
+using nav_msgs::msg::OccupancyGrid;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 

diff --git a/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -25,13 +25,9 @@
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
-#include <boost/optional.hpp>
-
 #include <behaviortree_cpp_v3/basic_types.h>
 
 #include <limits>
@@ -45,9 +41,6 @@ namespace behavior_path_planner
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
-using route_handler::LaneChangeDirection;
-using route_handler::PullOutDirection;
-using route_handler::PullOverDirection;
 using rtc_interface::RTCInterface;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using unique_identifier_msgs::msg::UUID;
@@ -73,7 +66,7 @@ struct TurnSignalInfo
 
 struct BehaviorModuleOutput
 {
-  BehaviorModuleOutput() {}
+  BehaviorModuleOutput() = default;
 
   // path planed by module
   PlanResult path{};
@@ -86,7 +79,7 @@ struct BehaviorModuleOutput
 
 struct CandidateOutput
 {
-  CandidateOutput() {}
+  CandidateOutput() = default;
   explicit CandidateOutput(const PathWithLaneId & path) : path_candidate{path} {}
   PathWithLaneId path_candidate{};
   double lateral_shift{0.0};