build(probabilistic_occupancy_grid_map): move header files to the pro…

…babilistic_occupancy_grid_map folder to avoid conflicts Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · Jan 11, 2024 · d7663cf · d7663cf
1 parent 73c9e17
commit d7663cf
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Showing 27 changed files with 95 additions and 94 deletions.
diff --git a/...occupancy_grid_map/include/cost_value.hpp → ...ilistic_occupancy_grid_map/cost_value.hpp b/...occupancy_grid_map/include/cost_value.hpp → ...ilistic_occupancy_grid_map/cost_value.hpp
@@ -48,8 +48,8 @@
  * Author: Eitan Marder-Eppstein
  *********************************************************************/
 
-#ifndef COST_VALUE_HPP_
-#define COST_VALUE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
 
 #include <algorithm>
 
@@ -103,4 +103,4 @@ static const CostTranslationTable cost_translation_table;
 static const InverseCostTranslationTable inverse_cost_translation_table;
 }  // namespace occupancy_cost_value
 
-#endif  // COST_VALUE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
diff --git a/...ude/fusion/single_frame_fusion_policy.hpp → ...map/fusion/single_frame_fusion_policy.hpp b/...ude/fusion/single_frame_fusion_policy.hpp → ...map/fusion/single_frame_fusion_policy.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
-#define FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <cmath>
 #include <iostream>
@@ -63,4 +63,4 @@ unsigned char singleFrameOccupancyFusion(
   const std::vector<double> & reliability);
 }  // namespace fusion_policy
 
-#endif  // FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
diff --git a/...ion/synchronized_grid_map_fusion_node.hpp → ...ion/synchronized_grid_map_fusion_node.hpp b/...ion/synchronized_grid_map_fusion_node.hpp → ...ion/synchronized_grid_map_fusion_node.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
-#define FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
 
-#include "fusion/single_frame_fusion_policy.hpp"
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
-#include "updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -124,4 +124,4 @@ class GridMapFusionNode : public rclcpp::Node
 
 }  // namespace synchronized_grid_map_fusion
 
-#endif  // FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
diff --git a/...serscan_based_occupancy_grid_map_node.hpp → ...serscan_based_occupancy_grid_map_node.hpp b/...serscan_based_occupancy_grid_map_node.hpp → ...serscan_based_occupancy_grid_map_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
-#define LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
 
-#include "laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
-#include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <laser_geometry/laser_geometry.hpp>
@@ -102,4 +102,4 @@ class LaserscanBasedOccupancyGridMapNode : public rclcpp::Node
 
 }  // namespace occupancy_grid_map
 
-#endif  // LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
diff --git a/...occupancy_grid_map/occupancy_grid_map.hpp → ...occupancy_grid_map/occupancy_grid_map.hpp b/...occupancy_grid_map/occupancy_grid_map.hpp → ...occupancy_grid_map/occupancy_grid_map.hpp
@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
-#define LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -91,4 +91,4 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D
 
 }  // namespace costmap_2d
 
-#endif  // LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
diff --git a/...ancy_grid_map/occupancy_grid_map_base.hpp → ...ancy_grid_map/occupancy_grid_map_base.hpp b/...ancy_grid_map/occupancy_grid_map_base.hpp → ...ancy_grid_map/occupancy_grid_map_base.hpp
@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -92,4 +92,4 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D
 
 }  // namespace costmap_2d
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
diff --git a/...ncy_grid_map/occupancy_grid_map_fixed.hpp → ...ncy_grid_map/occupancy_grid_map_fixed.hpp b/...ncy_grid_map/occupancy_grid_map_fixed.hpp → ...ncy_grid_map/occupancy_grid_map_fixed.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
 
 namespace costmap_2d
 {
@@ -44,4 +44,4 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface
 
 }  // namespace costmap_2d
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
diff --git a/...rid_map/occupancy_grid_map_projective.hpp → ...rid_map/occupancy_grid_map_projective.hpp b/...rid_map/occupancy_grid_map_projective.hpp → ...rid_map/occupancy_grid_map_projective.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 
@@ -52,4 +52,4 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface
 
 }  // namespace costmap_2d
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
diff --git a/...ntcloud_based_occupancy_grid_map_node.hpp → ...ntcloud_based_occupancy_grid_map_node.hpp b/...ntcloud_based_occupancy_grid_map_node.hpp → ...ntcloud_based_occupancy_grid_map_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
-#include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <laser_geometry/laser_geometry.hpp>
@@ -95,4 +95,4 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node
 
 }  // namespace occupancy_grid_map
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
diff --git a/..._grid_map_binary_bayes_filter_updater.hpp → ..._grid_map_binary_bayes_filter_updater.hpp b/..._grid_map_binary_bayes_filter_updater.hpp → ..._grid_map_binary_bayes_filter_updater.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
 
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -39,4 +39,4 @@ class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
diff --git a/...rid_map_log_odds_bayes_filter_updater.hpp → ...rid_map_log_odds_bayes_filter_updater.hpp b/...rid_map_log_odds_bayes_filter_updater.hpp → ...rid_map_log_odds_bayes_filter_updater.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
 
-#include "fusion/single_frame_fusion_policy.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/utils/utils.hpp"
 
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Geometry>
@@ -45,4 +45,4 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
diff --git a/.../occupancy_grid_map_updater_interface.hpp → .../occupancy_grid_map_updater_interface.hpp b/.../occupancy_grid_map_updater_interface.hpp → .../occupancy_grid_map_updater_interface.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/node.hpp>
@@ -38,4 +38,4 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
diff --git a/...ccupancy_grid_map/include/utils/utils.hpp → ...listic_occupancy_grid_map/utils/utils.hpp b/...ccupancy_grid_map/include/utils/utils.hpp → ...listic_occupancy_grid_map/utils/utils.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UTILS__UTILS_HPP_
-#define UTILS__UTILS_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <pcl_ros/transforms.hpp>
@@ -119,4 +119,4 @@ bool extractCommonPointCloud(
 unsigned char getApproximateOccupancyState(const unsigned char & value);
 }  // namespace utils
 
-#endif  // UTILS__UTILS_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fusion/single_frame_fusion_policy.hpp"
+#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
 
 namespace fusion_policy
 {

diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fusion/synchronized_grid_map_fusion_node.hpp"
+#include "probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 namespace synchronized_grid_map_fusion
 {

diff --git a/...id_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/...id_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp"
+#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
 

diff --git a/...bilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp b/...bilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
@@ -49,9 +49,9 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#include "laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
+#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 

diff --git a/...ic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp b/...ic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
@@ -49,10 +49,10 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>

diff --git a/...c_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/...c_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>

diff --git a/...upancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/...upancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>

diff --git a/..._map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/..._map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp"
 
-#include "cost_value.hpp"
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>

diff --git a/...ilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp b/...ilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <algorithm>