fix(autoware_auto_geometry): move headers to a separate directory (au…

…towarefoundation#5941) * fix(autoware_auto_geometry): move headers to a separate directory Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix * fix: fix header name Signed-off-by: Esteve Fernandez <[email protected]> * style(pre-commit): autofix * fix: fix headers for CMake Signed-off-by: Esteve Fernandez <[email protected]> --------- Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Interplai · Jun 3, 2024 · d289af8 · d289af8
1 parent c505a24
commit d289af8
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Showing 28 changed files with 92 additions and 87 deletions.
diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
@@ -5,9 +5,9 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  include/geometry/spatial_hash.hpp
-  include/geometry/intersection.hpp
-  include/geometry/spatial_hash_config.hpp
+  include/autoware_auto_geometry/spatial_hash.hpp
+  include/autoware_auto_geometry/intersection.hpp
+  include/autoware_auto_geometry/spatial_hash_config.hpp
   src/spatial_hash.cpp
   src/bounding_box.cpp
 )

diff --git a/common/autoware_auto_geometry/design/interval.md b/common/autoware_auto_geometry/design/interval.md
@@ -39,7 +39,7 @@ See 'Example Usage' below.
 ## Example Usage
 
 ```c++
-#include "geometry/interval.hpp"
+#include "autoware_auto_geometry/interval.hpp"
 
 #include <iostream>
 

diff --git a/...etry/bounding_box/bounding_box_common.hpp → ...etry/bounding_box/bounding_box_common.hpp b/...etry/bounding_box/bounding_box_common.hpp → ...etry/bounding_box/bounding_box_common.hpp
@@ -17,11 +17,11 @@
 /// \file
 /// \brief Common functionality for bounding box computation algorithms
 
-#ifndef GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
-#define GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
 
-#include <geometry/common_2d.hpp>
-#include <geometry/visibility_control.hpp>
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/visibility_control.hpp"
 
 #include <autoware_auto_perception_msgs/msg/bounding_box.hpp>
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
@@ -185,4 +185,4 @@ std::vector<geometry_msgs::msg::Point32> GEOMETRY_PUBLIC get_transformed_corners
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
diff --git a/...ude/geometry/bounding_box/eigenbox_2d.hpp → ...uto_geometry/bounding_box/eigenbox_2d.hpp b/...ude/geometry/bounding_box/eigenbox_2d.hpp → ...uto_geometry/bounding_box/eigenbox_2d.hpp
@@ -19,10 +19,10 @@
 ///        bounding box
 
 // cspell: ignore eigenbox, EIGENBOX
-#ifndef GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
-#define GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
 
-#include <geometry/bounding_box/bounding_box_common.hpp>
+#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp"
 
 #include <limits>
 #include <utility>
@@ -244,4 +244,4 @@ BoundingBox eigenbox_2d(const IT begin, const IT end)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
diff --git a/...ry/include/geometry/bounding_box/lfit.hpp → ...oware_auto_geometry/bounding_box/lfit.hpp b/...ry/include/geometry/bounding_box/lfit.hpp → ...oware_auto_geometry/bounding_box/lfit.hpp
@@ -20,10 +20,10 @@
 
 // cspell: ignore LFIT, lfit
 // LFIT means "L-Shape Fitting"
-#ifndef GEOMETRY__BOUNDING_BOX__LFIT_HPP_
-#define GEOMETRY__BOUNDING_BOX__LFIT_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_
 
-#include <geometry/bounding_box/eigenbox_2d.hpp>
+#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp"
 
 #include <limits>
 #include <utility>
@@ -278,4 +278,4 @@ BoundingBox lfit_bounding_box_2d(const IT begin, const IT end)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__BOUNDING_BOX__LFIT_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_
diff --git a/...ometry/bounding_box/rotating_calipers.hpp → ...ometry/bounding_box/rotating_calipers.hpp b/...ometry/bounding_box/rotating_calipers.hpp → ...ometry/bounding_box/rotating_calipers.hpp
@@ -17,11 +17,11 @@
 /// \file
 /// \brief This file implements the rotating calipers algorithm for minimum oriented bounding boxes
 
-#ifndef GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
-#define GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
-#include <geometry/bounding_box/bounding_box_common.hpp>
-#include <geometry/common_2d.hpp>
-#include <geometry/convex_hull.hpp>
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
+#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp"
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/convex_hull.hpp"
 
 #include <algorithm>
 #include <cstring>
@@ -277,4 +277,4 @@ BoundingBox minimum_perimeter_bounding_box(std::list<PointT> & list)
 }  // namespace geometry
 }  // namespace common
 }  // namespace autoware
-#endif  // GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
diff --git a/...etry/include/geometry/bounding_box_2d.hpp → ...utoware_auto_geometry/bounding_box_2d.hpp b/...etry/include/geometry/bounding_box_2d.hpp → ...utoware_auto_geometry/bounding_box_2d.hpp
@@ -15,12 +15,12 @@
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 /// \file
 /// \brief Main header for user-facing bounding box algorithms: functions and types
-#ifndef GEOMETRY__BOUNDING_BOX_2D_HPP_
-#define GEOMETRY__BOUNDING_BOX_2D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_
 
-#include <geometry/bounding_box/eigenbox_2d.hpp>
-#include <geometry/bounding_box/lfit.hpp>
-#include <geometry/bounding_box/rotating_calipers.hpp>
+#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp"
+#include "autoware_auto_geometry/bounding_box/lfit.hpp"
+#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp"
 
 namespace autoware
 {
@@ -31,4 +31,4 @@ namespace geometry
 }  // namespace geometry
 }  // namespace common
 }  // namespace autoware
-#endif  // GEOMETRY__BOUNDING_BOX_2D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_
diff --git a/...o_geometry/include/geometry/common_2d.hpp → ...lude/autoware_auto_geometry/common_2d.hpp b/...o_geometry/include/geometry/common_2d.hpp → ...lude/autoware_auto_geometry/common_2d.hpp
@@ -16,10 +16,10 @@
 /// \file
 /// \brief This file includes common functionality for 2D geometry, such as dot products
 
-#ifndef GEOMETRY__COMMON_2D_HPP_
-#define GEOMETRY__COMMON_2D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_
 
-#include "geometry/interval.hpp"
+#include "autoware_auto_geometry/interval.hpp"
 
 #include <common/types.hpp>
 
@@ -584,4 +584,4 @@ bool is_point_inside_polygon_2d(
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__COMMON_2D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_
diff --git a/...o_geometry/include/geometry/common_3d.hpp → ...lude/autoware_auto_geometry/common_3d.hpp b/...o_geometry/include/geometry/common_3d.hpp → ...lude/autoware_auto_geometry/common_3d.hpp
@@ -16,10 +16,10 @@
 /// \file
 /// \brief This file includes common functionality for 3D geometry, such as dot products
 
-#ifndef GEOMETRY__COMMON_3D_HPP_
-#define GEOMETRY__COMMON_3D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_
 
-#include <geometry/common_2d.hpp>
+#include "autoware_auto_geometry/common_2d.hpp"
 
 namespace autoware
 {
@@ -74,4 +74,4 @@ inline OUT distance_3d(const T1 & a, const T2 & b)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__COMMON_3D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_
diff --git a/...geometry/include/geometry/convex_hull.hpp → ...de/autoware_auto_geometry/convex_hull.hpp b/...geometry/include/geometry/convex_hull.hpp → ...de/autoware_auto_geometry/convex_hull.hpp
@@ -18,11 +18,12 @@
 /// \brief This file implements the monotone chain algorithm to compute 2D convex hulls on linked
 ///        lists of points
 
-#ifndef GEOMETRY__CONVEX_HULL_HPP_
-#define GEOMETRY__CONVEX_HULL_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_
+
+#include "autoware_auto_geometry/common_2d.hpp"
 
 #include <common/types.hpp>
-#include <geometry/common_2d.hpp>
 
 // lint -e537 NOLINT pclint vs cpplint
 #include <algorithm>
@@ -191,4 +192,4 @@ typename std::list<PointT>::const_iterator convex_hull(std::list<PointT> & list)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__CONVEX_HULL_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_
diff --git a/...eometry/include/geometry/hull_pockets.hpp → ...e/autoware_auto_geometry/hull_pockets.hpp b/...eometry/include/geometry/hull_pockets.hpp → ...e/autoware_auto_geometry/hull_pockets.hpp
@@ -18,11 +18,12 @@
 /// \brief This file implements an algorithm for getting a list of "pockets" in the convex
 ///        hull of a non-convex simple polygon.
 
-#ifndef GEOMETRY__HULL_POCKETS_HPP_
-#define GEOMETRY__HULL_POCKETS_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_
+
+#include "autoware_auto_geometry/common_2d.hpp"
 
 #include <common/types.hpp>
-#include <geometry/common_2d.hpp>
 
 #include <algorithm>
 #include <iterator>
@@ -107,4 +108,4 @@ typename std::vector<std::vector<typename std::iterator_traits<Iter1>::value_typ
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__HULL_POCKETS_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_
diff --git a/...eometry/include/geometry/intersection.hpp → ...e/autoware_auto_geometry/intersection.hpp b/...eometry/include/geometry/intersection.hpp → ...e/autoware_auto_geometry/intersection.hpp
@@ -14,11 +14,11 @@
 //
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
-#ifndef GEOMETRY__INTERSECTION_HPP_
-#define GEOMETRY__INTERSECTION_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_
 
-#include <geometry/common_2d.hpp>
-#include <geometry/convex_hull.hpp>
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/convex_hull.hpp"
 
 #include <autoware_auto_perception_msgs/msg/bounding_box.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory_point.hpp>
@@ -309,4 +309,4 @@ common::types::float32_t convex_intersection_over_union_2d(
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__INTERSECTION_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_
diff --git a/...to_geometry/include/geometry/interval.hpp → ...clude/autoware_auto_geometry/interval.hpp b/...to_geometry/include/geometry/interval.hpp → ...clude/autoware_auto_geometry/interval.hpp
@@ -18,8 +18,8 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 
-#ifndef GEOMETRY__INTERVAL_HPP_
-#define GEOMETRY__INTERVAL_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_
 
 #include "common/types.hpp"
 #include "helper_functions/float_comparisons.hpp"
@@ -355,4 +355,4 @@ T Interval<T>::clamp_to(const Interval & i, T val)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__INTERVAL_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_
diff --git a/...eometry/include/geometry/lookup_table.hpp → ...e/autoware_auto_geometry/lookup_table.hpp b/...eometry/include/geometry/lookup_table.hpp → ...e/autoware_auto_geometry/lookup_table.hpp
@@ -17,11 +17,11 @@
 /// \file
 /// \brief This file contains a 1D linear lookup table implementation
 
-#ifndef GEOMETRY__LOOKUP_TABLE_HPP_
-#define GEOMETRY__LOOKUP_TABLE_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_
 
+#include "autoware_auto_geometry/interval.hpp"
 #include "common/types.hpp"
-#include "geometry/interval.hpp"
 
 #include <cmath>
 #include <stdexcept>
@@ -175,4 +175,4 @@ class LookupTable1D
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__LOOKUP_TABLE_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_
diff --git a/...eometry/include/geometry/spatial_hash.hpp → ...e/autoware_auto_geometry/spatial_hash.hpp b/...eometry/include/geometry/spatial_hash.hpp → ...e/autoware_auto_geometry/spatial_hash.hpp
@@ -17,12 +17,13 @@
 /// \brief This file implements a spatial hash for efficient fixed-radius near neighbor queries in
 ///        2D
 
-#ifndef GEOMETRY__SPATIAL_HASH_HPP_
-#define GEOMETRY__SPATIAL_HASH_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_
+
+#include "autoware_auto_geometry/spatial_hash_config.hpp"
+#include "autoware_auto_geometry/visibility_control.hpp"
 
 #include <common/types.hpp>
-#include <geometry/spatial_hash_config.hpp>
-#include <geometry/visibility_control.hpp>
 
 #include <unordered_map>
 #include <utility>
@@ -328,4 +329,4 @@ using SpatialHash3d = SpatialHash<T, Config3d>;
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__SPATIAL_HASH_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_
diff --git a/.../include/geometry/spatial_hash_config.hpp → ...are_auto_geometry/spatial_hash_config.hpp b/.../include/geometry/spatial_hash_config.hpp → ...are_auto_geometry/spatial_hash_config.hpp
@@ -17,14 +17,14 @@
 /// \brief This file implements a spatial hash for efficient fixed-radius near neighbor queries in
 ///        2D
 
-#ifndef GEOMETRY__SPATIAL_HASH_CONFIG_HPP_
-#define GEOMETRY__SPATIAL_HASH_CONFIG_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_CONFIG_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_CONFIG_HPP_
 
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/visibility_control.hpp"
 #include "helper_functions/crtp.hpp"
 
 #include <common/types.hpp>
-#include <geometry/common_2d.hpp>
-#include <geometry/visibility_control.hpp>
 
 #include <algorithm>
 #include <cmath>
@@ -447,4 +447,4 @@ class GEOMETRY_PUBLIC Config3d : public Config<Config3d>
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__SPATIAL_HASH_CONFIG_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_CONFIG_HPP_
diff --git a/...y/include/geometry/visibility_control.hpp → ...ware_auto_geometry/visibility_control.hpp b/...y/include/geometry/visibility_control.hpp → ...ware_auto_geometry/visibility_control.hpp
@@ -14,8 +14,8 @@
 //
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
-#ifndef GEOMETRY__VISIBILITY_CONTROL_HPP_
-#define GEOMETRY__VISIBILITY_CONTROL_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__VISIBILITY_CONTROL_HPP_
 
 ////////////////////////////////////////////////////////////////////////////////
 #if defined(__WIN32)
@@ -38,4 +38,4 @@
 #else  // defined(__linux__)
 #error "Unsupported Build Configuration"
 #endif  // defined(__WIN32)
-#endif  // GEOMETRY__VISIBILITY_CONTROL_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__VISIBILITY_CONTROL_HPP_
diff --git a/common/autoware_auto_geometry/src/bounding_box.cpp b/common/autoware_auto_geometry/src/bounding_box.cpp
@@ -14,13 +14,14 @@
 //
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
+#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp"
+#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp"
+
 #include <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
-#include <geometry/bounding_box/bounding_box_common.hpp>
-#include <geometry/bounding_box/eigenbox_2d.hpp>
 // cspell: ignore eigenbox
-#include <geometry/bounding_box/lfit.hpp>
+#include "autoware_auto_geometry/bounding_box/lfit.hpp"
 // cspell: ignore lfit
-#include <geometry/bounding_box/rotating_calipers.hpp>
+#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>
 

diff --git a/common/autoware_auto_geometry/src/spatial_hash.cpp b/common/autoware_auto_geometry/src/spatial_hash.cpp
@@ -14,7 +14,7 @@
 //
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
-#include <geometry/spatial_hash.hpp>
+#include "autoware_auto_geometry/spatial_hash.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>
 // lint -e537 NOLINT repeated include file due to cpplint rule

diff --git a/common/autoware_auto_geometry/test/include/test_bounding_box.hpp b/common/autoware_auto_geometry/test/include/test_bounding_box.hpp
@@ -17,9 +17,9 @@
 #ifndef TEST_BOUNDING_BOX_HPP_
 #define TEST_BOUNDING_BOX_HPP_
 
-#include "geometry/bounding_box/lfit.hpp"
+#include "autoware_auto_geometry/bounding_box/lfit.hpp"
 // cspell: ignore lfit
-#include "geometry/bounding_box/rotating_calipers.hpp"
+#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>
 

diff --git a/common/autoware_auto_geometry/test/include/test_spatial_hash.hpp b/common/autoware_auto_geometry/test/include/test_spatial_hash.hpp
@@ -17,7 +17,7 @@
 #ifndef TEST_SPATIAL_HASH_HPP_
 #define TEST_SPATIAL_HASH_HPP_
 
-#include "geometry/spatial_hash.hpp"
+#include "autoware_auto_geometry/spatial_hash.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>