refactor(motion_utils)!: add autoware prefix and include dir

.github/CODEOWNERS

@@ -19,7 +19,7 @@
 common/autoware_grid_map_utils/** maxime.clement@tier4.jp
 common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
 common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
-common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 common/object_recognition_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
 common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/path_distance_calculator/** isamu.takagi@tier4.jp
@@ -51,13 +51,13 @@
 control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp
 control/autoware_mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_smart_mpc_trajectory_follower/** kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/predicted_path_checker/** berkay@leodrive.ai
 control/autoware_smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com
 control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/shift_decider/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp

common/.pages

@@ -15,8 +15,8 @@ nav:
     - 'Glog Component': common/glog_component
     - 'interpolation': common/interpolation
     - 'Kalman Filter': common/kalman_filter
-    - 'Motion Utils': common/motion_utils
-    - 'Vehicle Utils': common/motion_utils/docs/vehicle/vehicle
+    - 'Motion Utils': common/autoware_motion_utils
+    - 'Vehicle Utils': common/autoware_motion_utils/docs/vehicle/vehicle
     - 'Object Recognition Utils': common/object_recognition_utils
     - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design
     - 'Perception Utils': common/perception_utils

common/README.md

@@ -13,4 +13,4 @@ The Autoware.Universe Common folder consists of common and testing libraries tha
 Some of the commonly used libraries are:
 
 1. `autoware_universe_utils`
-2. `motion_utils`
+2. `autoware_motion_utils`

common/motion_utils/CMakeLists.txt → common/autoware_motion_utils/CMakeLists.txt

@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(motion_utils)
+project(autoware_motion_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
 
-ament_auto_add_library(motion_utils SHARED
+ament_auto_add_library(autoware_motion_utils SHARED
   DIRECTORY src
 )
 
@@ -15,10 +15,10 @@ if(BUILD_TESTING)
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_ros_isolated_gtest(test_motion_utils ${test_files})
+  ament_add_ros_isolated_gtest(test_autoware_motion_utils ${test_files})
 
-  target_link_libraries(test_motion_utils
-    motion_utils
+  target_link_libraries(test_autoware_motion_utils
+    autoware_motion_utils
   )
 endif()
 

common/motion_utils/README.md → common/autoware_motion_utils/README.md

@@ -114,4 +114,4 @@ const double length_from_ego_to_obj = calcSignedArcLength(points, ego_pose, ego_
 
 Some of the template functions in `trajectory.hpp` are mostly used for specific types (`autoware_planning_msgs::msg::PathPoint`, `autoware_planning_msgs::msg::PathPoint`, `autoware_planning_msgs::msg::TrajectoryPoint`), so they are exported as `extern template` functions to speed-up compilation time.
 
-`motion_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.
+`autoware_motion_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.

common/motion_utils/include/motion_utils/constants.hpp → common/autoware_motion_utils/include/autoware/motion_utils/constants.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__CONSTANTS_HPP_
-#define MOTION_UTILS__CONSTANTS_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
+#define AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 constexpr double overlap_threshold = 0.1;
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__CONSTANTS_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_

common/motion_utils/include/motion_utils/distance/distance.hpp → common/autoware_motion_utils/include/autoware/motion_utils/distance/distance.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__DISTANCE__DISTANCE_HPP_
-#define MOTION_UTILS__DISTANCE__DISTANCE_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_
+#define AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_
 
 #include <algorithm>
 #include <cmath>
@@ -22,12 +22,12 @@
 #include <tuple>
 #include <vector>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 std::optional<double> calcDecelDistWithJerkAndAccConstraints(
   const double current_vel, const double target_vel, const double current_acc, const double acc_min,
   const double jerk_acc, const double jerk_dec);
 
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__DISTANCE__DISTANCE_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_

common/motion_utils/include/motion_utils/factor/velocity_factor_interface.hpp → common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp

@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
-#define MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
+#define AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
 
 #include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
 #include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::VelocityFactor;
@@ -49,6 +49,6 @@ class VelocityFactorInterface
   VelocityFactor velocity_factor_{};
 };
 
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_

common/motion_utils/include/motion_utils/marker/marker_helper.hpp → common/autoware_motion_utils/include/autoware/motion_utils/marker/marker_helper.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
-#define MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
+#define AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
 
 #include <rclcpp/time.hpp>
 
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <string>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 using geometry_msgs::msg::Pose;
 
@@ -48,6 +48,6 @@ visualization_msgs::msg::MarkerArray createDeletedSlowDownVirtualWallMarker(
 
 visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
   const rclcpp::Time & now, const int32_t id);
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_

common/motion_utils/include/motion_utils/marker/virtual_wall_marker_creator.hpp → common/autoware_motion_utils/include/autoware/motion_utils/marker/virtual_wall_marker_creator.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
-#define MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
+#define AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
 
 #include <rclcpp/time.hpp>
 
@@ -25,7 +25,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 
 /// @brief type of virtual wall associated with different marker styles and namespace
@@ -76,6 +76,6 @@ class VirtualWallMarkerCreator
   /// @param now current time to be used for displaying the markers
   visualization_msgs::msg::MarkerArray create_markers(const rclcpp::Time & now = rclcpp::Time());
 };
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_

common/motion_utils/include/motion_utils/resample/resample.hpp → common/autoware_motion_utils/include/autoware/motion_utils/resample/resample.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
-#define MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
+#define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <vector>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 /**
  * @brief A resampling function for a path(points). Note that in a default setting, position xy are
@@ -234,6 +234,6 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
   const bool use_akima_spline_for_xy = false, const bool use_lerp_for_z = true,
   const bool use_zero_order_hold_for_twist = true,
   const bool resample_input_trajectory_stop_point = true);
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_

common/motion_utils/include/motion_utils/resample/resample_utils.hpp → common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
-#define MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
+#define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
 
 #include "autoware/universe_utils/system/backtrace.hpp"
 
+#include <autoware/motion_utils/constants.hpp>
+#include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
-#include <motion_utils/constants.hpp>
-#include <motion_utils/trajectory/trajectory.hpp>
 
 #include <vector>
 
@@ -29,7 +29,7 @@ constexpr double close_s_threshold = 1e-6;
 
 static inline rclcpp::Logger get_logger()
 {
-  constexpr const char * logger{"motion_utils.resample_utils"};
+  constexpr const char * logger{"autoware_motion_utils.resample_utils"};
   return rclcpp::get_logger(logger);
 }
 
@@ -42,7 +42,7 @@ bool validate_size(const T & points)
 template <class T>
 bool validate_resampling_range(const T & points, const std::vector<double> & resampling_intervals)
 {
-  const double points_length = motion_utils::calcArcLength(points);
+  const double points_length = autoware_motion_utils::calcArcLength(points);
   return points_length >= resampling_intervals.back();
 }
 
@@ -105,10 +105,10 @@ bool validate_arguments(const T & input_points, const double resampling_interval
   }
 
   // check resampling interval
-  if (resampling_interval < motion_utils::overlap_threshold) {
+  if (resampling_interval < autoware_motion_utils::overlap_threshold) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: resampling interval is less than %f",
-      motion_utils::overlap_threshold);
+      autoware_motion_utils::overlap_threshold);
     autoware_universe_utils::print_backtrace();
     return false;
   }
@@ -124,4 +124,4 @@ bool validate_arguments(const T & input_points, const double resampling_interval
 }
 }  // namespace resample_utils
 
-#endif  // MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_

common/motion_utils/include/motion_utils/trajectory/conversion.hpp → common/autoware_motion_utils/include/autoware/motion_utils/trajectory/conversion.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
-#define MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
+#define AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 
 #include "autoware_planning_msgs/msg/detail/path__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/trajectory__struct.hpp"
@@ -23,7 +23,7 @@
 
 #include <vector>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 using TrajectoryPoints = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;
 
@@ -115,6 +115,6 @@ inline tier4_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
   return output;
 }
 
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_

common/motion_utils/include/motion_utils/trajectory/interpolation.hpp → common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
-#define MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
+#define AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 
@@ -25,7 +25,7 @@
 #include <algorithm>
 #include <limits>
 
-namespace motion_utils
+namespace autoware_motion_utils
 {
 /**
  * @brief An interpolation function that finds the closest interpolated point on the trajectory from
@@ -91,6 +91,6 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
   return autoware_universe_utils::getPose(points.back());
 }
 
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_

common/motion_utils/include/motion_utils/trajectory/path_with_lane_id.hpp → common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_with_lane_id.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
-#define MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
+#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
+#define AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
 
 #include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 #include <geometry_msgs/msg/point.hpp>
 
 #include <optional>
 #include <utility>
-namespace motion_utils
+namespace autoware_motion_utils
 {
 std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
@@ -41,6 +41,6 @@ size_t findNearestSegmentIndexFromLaneId(
 tier4_planning_msgs::msg::PathWithLaneId convertToRearWheelCenter(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const double rear_to_cog,
   const bool enable_last_point_compensation = true);
-}  // namespace motion_utils
+}  // namespace autoware_motion_utils
 
-#endif  // MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
+#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_