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

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

style(pre-commit): autofix

common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp

@@ -19,7 +19,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <motion_utils/trajectory/trajectory.hpp>
+#include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>

common/tier4_debug_tools/package.xml

@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
-  <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>

common/tier4_debug_tools/src/lateral_error_publisher.cpp

@@ -74,7 +74,7 @@ void LateralErrorPublisher::onGroundTruthPose(
   }
 
   // Search closest trajectory point with vehicle pose
-  const auto closest_index = motion_utils::findNearestIndex(
+  const auto closest_index = autoware_motion_utils::findNearestIndex(
     current_trajectory_ptr_->points, current_vehicle_pose_ptr_->pose.pose,
     std::numeric_limits<double>::max(), yaw_threshold_to_search_closest_);
   if (!closest_index) {

common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml

@@ -36,7 +36,7 @@ Planning:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
       logger_name: behavior_path_planner.path_shifter
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
-      logger_name: motion_utils
+      logger_name: autoware_motion_utils
 
   behavior_path_planner_avoidance:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
@@ -74,7 +74,7 @@ Planning:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
       logger_name: autoware_universe_utils
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
-      logger_name: motion_utils
+      logger_name: autoware_motion_utils
 
   behavior_velocity_planner_intersection:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
@@ -86,15 +86,15 @@ Planning:
     - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
       logger_name: autoware_universe_utils
     - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
-      logger_name: motion_utils
+      logger_name: autoware_motion_utils
 
   motion_velocity_smoother:
     - node_name: /planning/scenario_planning/motion_velocity_smoother
       logger_name: planning.scenario_planning.motion_velocity_smoother
     - node_name: /planning/scenario_planning/motion_velocity_smoother
       logger_name: autoware_universe_utils
     - node_name: /planning/scenario_planning/motion_velocity_smoother
-      logger_name: motion_utils
+      logger_name: autoware_motion_utils
 
   route_handler:
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
@@ -110,15 +110,15 @@ Control:
     - node_name: /control/trajectory_follower/controller_node_exe
       logger_name: autoware_universe_utils
     - node_name: /control/trajectory_follower/controller_node_exe
-      logger_name: motion_utils
+      logger_name: autoware_motion_utils
 
   longitudinal_controller:
     - node_name: /control/trajectory_follower/controller_node_exe
       logger_name: control.trajectory_follower.controller_node_exe.longitudinal_controller
     - node_name: /control/trajectory_follower/controller_node_exe
       logger_name: autoware_universe_utils
     - node_name: /control/trajectory_follower/controller_node_exe
-      logger_name: motion_utils
+      logger_name: autoware_motion_utils
 
   vehicle_cmd_gate:
     - node_name: /control/vehicle_cmd_gate

driving_environment_analyzer/package.xml

@@ -17,6 +17,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_lane_departure_checker</depend>
+  <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
@@ -29,7 +30,6 @@
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>
-  <depend>motion_utils</depend>
   <depend>qtbase5-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

driving_environment_analyzer/src/utils.cpp

@@ -14,7 +14,7 @@
 
 #include "driving_environment_analyzer/utils.hpp"
 
-#include "motion_utils/trajectory/trajectory.hpp"
+#include "autoware/motion_utils/trajectory/trajectory.hpp"
 
 #include <lanelet2_extension/regulatory_elements/Forward.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
@@ -79,7 +79,7 @@ double calcElevationAngle(const lanelet::ConstLanelet & lane, const Pose & pose)
     return 0.0;
   }
 
-  const size_t idx = motion_utils::findNearestSegmentIndex(points, pose.position);
+  const size_t idx = autoware_motion_utils::findNearestSegmentIndex(points, pose.position);
 
   const auto p1 = autoware_universe_utils::getPoint(points.at(idx));
   const auto p2 = autoware_universe_utils::getPoint(points.at(idx + 1));
@@ -96,7 +96,7 @@ double getLaneWidth(const lanelet::ConstLanelet & lane)
     return points;
   };
 
-  const auto lon_length = motion_utils::calcArcLength(to_ros_msg(lane.centerline()));
+  const auto lon_length = autoware_motion_utils::calcArcLength(to_ros_msg(lane.centerline()));
   return boost::geometry::area(lane.polygon2d().basicPolygon()) / lon_length;
 }
 
@@ -118,7 +118,7 @@ double getMaxCurvature(const lanelet::ConstLanelets & lanes)
   double max_value = 0.0;
 
   for (const auto & lane : lanes) {
-    const auto values = motion_utils::calcCurvature(to_ros_msg(lane.centerline()));
+    const auto values = autoware_motion_utils::calcCurvature(to_ros_msg(lane.centerline()));
     const auto max_value_itr = std::max_element(values.begin(), values.end());
     if (max_value_itr == values.end()) {
       continue;
@@ -146,7 +146,7 @@ std::pair<double, double> getLaneWidth(const lanelet::ConstLanelets & lanes)
   double max_value = 0.0;
 
   for (const auto & lane : lanes) {
-    const auto lon_length = motion_utils::calcArcLength(to_ros_msg(lane.centerline()));
+    const auto lon_length = autoware_motion_utils::calcArcLength(to_ros_msg(lane.centerline()));
     const auto width = boost::geometry::area(lane.polygon2d().basicPolygon()) / lon_length;
 
     if (min_value > width) {

planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp

@@ -15,8 +15,8 @@
 #ifndef PLANNING_DEBUG_TOOLS__TRAJECTORY_ANALYZER_HPP_
 #define PLANNING_DEBUG_TOOLS__TRAJECTORY_ANALYZER_HPP_
 
+#include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "motion_utils/trajectory/trajectory.hpp"
 #include "planning_debug_tools/msg/trajectory_debug_info.hpp"
 #include "planning_debug_tools/util.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -86,8 +86,8 @@ class TrajectoryAnalyzer
     TrajectoryDebugInfo data;
     data.stamp = node_->now();
     data.size = points.size();
-    data.curvature = motion_utils::calcCurvature(points);
-    const auto arclength_offset = motion_utils::calcSignedArcLength(points, 0, ego_p);
+    data.curvature = autoware_motion_utils::calcCurvature(points);
+    const auto arclength_offset = autoware_motion_utils::calcSignedArcLength(points, 0, ego_p);
     data.arclength = calcPathArcLengthArray(points, -arclength_offset);
     data.velocity = getVelocityArray(points);
     data.acceleration = getAccelerationArray(points);

planning/planning_debug_tools/include/planning_debug_tools/util.hpp

@@ -15,8 +15,8 @@
 #ifndef PLANNING_DEBUG_TOOLS__UTIL_HPP_
 #define PLANNING_DEBUG_TOOLS__UTIL_HPP_
 
+#include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "motion_utils/trajectory/trajectory.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_planning_msgs/msg/path.hpp"

planning/planning_debug_tools/package.xml

@@ -17,10 +17,10 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
-  <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>