refactor(behavior_path_planner): remove unused headers (autowarefound…

…ation#5341) * refactor(behavior_path_planner): remove unused headers Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * style(pre-commit): autofix * additional headers Signed-off-by: Muhammad Zulfaqar <[email protected]> * additional headers removed Signed-off-by: Muhammad Zulfaqar <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Muhammad Zulfaqar <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
zulfaqar-azmi-t4 · Oct 19, 2023 · 64d8080 · 64d8080
1 parent e67bada
commit 64d8080
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Showing 59 changed files with 37 additions and 146 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
@@ -17,13 +17,7 @@
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/planner_manager.hpp"
-#include "behavior_path_planner/scene_module/avoidance/manager.hpp"
-#include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
-#include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
-#include "behavior_path_planner/scene_module/lane_change/manager.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/scene_module/side_shift/manager.hpp"
-#include "behavior_path_planner/scene_module/start_planner/manager.hpp"
 #include "behavior_path_planner/steering_factor_interface.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
@@ -66,7 +60,6 @@ using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::PoseWithUuidStamped;
-using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using rcl_interfaces::msg::SetParametersResult;

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp
@@ -18,7 +18,6 @@
 #include <interpolation/linear_interpolation.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <string>
 #include <utility>
 #include <vector>
 

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -18,20 +18,17 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/utils/lane_following/module_data.hpp"
 #include "tier4_autoware_utils/ros/debug_publisher.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/stop_reason_array.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
 #include <algorithm>
-#include <limits>
 #include <memory>
 #include <string>
 #include <unordered_map>

diff --git a/...include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/...include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
@@ -18,8 +18,10 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
+#include <autoware_auto_perception_msgs/msg/predicted_path.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_msg.hpp>
@@ -35,6 +37,9 @@
 
 namespace behavior_path_planner
 {
+using autoware_auto_perception_msgs::msg::PredictedPath;
+using tier4_autoware_utils::Polygon2d;
+
 struct MinMaxValue
 {
   double min_value{0.0};

diff --git a/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -32,6 +32,7 @@
 #include <freespace_planning_algorithms/rrtstar.hpp>
 #include <lane_departure_checker/lane_departure_checker.hpp>
 #include <motion_utils/distance/distance.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
@@ -65,6 +66,7 @@ using behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams;
 using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped;
 using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams;
 using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane;
+using tier4_autoware_utils::Polygon2d;
 
 enum class PathType {
   NONE = 0,

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
@@ -16,6 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SCENE_MODULE_INTERFACE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
+#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/steering_factor_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/steering_factor_interface.hpp
@@ -15,15 +15,13 @@
 #ifndef BEHAVIOR_PATH_PLANNER__STEERING_FACTOR_INTERFACE_HPP_
 #define BEHAVIOR_PATH_PLANNER__STEERING_FACTOR_INTERFACE_HPP_
 
-#include "rclcpp/rclcpp.hpp"
+#include <rclcpp/rclcpp.hpp>
 
-#include "autoware_adapi_v1_msgs/msg/steering_factor_array.hpp"
-#include "geometry_msgs/msg/pose.hpp"
-#include "unique_identifier_msgs/msg/uuid.hpp"
+#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
+#include <geometry_msgs/msg/pose.hpp>
 
 #include <mutex>
 #include <string>
-#include <vector>
 
 namespace steering_factor_interface
 {

diff --git a/...vior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/...vior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
@@ -15,7 +15,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 
-#include "behavior_path_planner/marker_utils/utils.hpp"
+#include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
@@ -18,11 +18,8 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 
-#include <algorithm>
 #include <memory>
-#include <string>
 #include <utility>
 #include <vector>
 

diff --git a/...r_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp b/...r_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
@@ -20,7 +20,6 @@
 
 #include <tier4_autoware_utils/ros/transform_listener.hpp>
 
-#include "autoware_auto_planning_msgs/msg/detail/path_point__struct.hpp"
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
@@ -31,11 +30,6 @@
 #include <boost/geometry/index/predicates.hpp>
 #include <boost/geometry/index/rtree.hpp>
 
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
 namespace drivable_area_expansion
 {
 /// @brief translate a polygon by some (x,y) vector

diff --git a/...r_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp b/...r_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
@@ -15,8 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
 
-#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
-
 #include <rclcpp/node.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 

diff --git a/...h_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp b/...h_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
@@ -21,7 +21,6 @@
 
 #include <boost/geometry.hpp>
 
-#include <iostream>
 #include <limits>
 
 namespace drivable_area_expansion

diff --git a/...ude/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp b/...ude/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
@@ -30,9 +30,7 @@
 
 #include <lanelet2_core/Forward.h>
 
-#include <algorithm>
 #include <memory>
-#include <string>
 #include <utility>
 #include <vector>
 

diff --git a/...h_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp b/...h_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp
@@ -20,7 +20,6 @@
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <memory>
-#include <vector>
 
 namespace behavior_path_planner
 {

diff --git a/...path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp b/...path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp
@@ -16,13 +16,11 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FIXED_GOAL_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
 #include <memory>
-#include <vector>
 
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Pose;

diff --git a/.../behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp b/.../behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp
@@ -18,14 +18,11 @@
 #include "behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp"
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
-#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
-
 #include <memory>
 #include <vector>
 
 namespace behavior_path_planner
 {
-using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using tier4_autoware_utils::LinearRing2d;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
 

diff --git a/...vior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp b/...vior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp
@@ -16,12 +16,10 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
-#include <limits>
 #include <memory>
 #include <vector>
 

diff --git a/..._path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/..._path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__PULL_OVER_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
 

diff --git a/..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/..._path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
@@ -16,17 +16,9 @@
 
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
-#include "lanelet2_core/geometry/Lanelet.h"
-
-#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
@@ -15,12 +15,10 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_HPP_
 
-#include "behavior_path_planner/marker_utils/lane_change/debug.hpp"
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <route_handler/route_handler.hpp>
@@ -32,10 +30,7 @@
 
 #include <lanelet2_core/Forward.h>
 
-#include <memory>
 #include <string>
-#include <unordered_map>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner::utils::lane_change

diff --git a/.../behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp b/.../behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
@@ -15,9 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
 
-#include <string>
-#include <vector>
-
 namespace behavior_path_planner
 {
 

diff --git a/...ath_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp b/...ath_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp
@@ -27,7 +27,6 @@
 #include <tf2/utils.h>
 
 #include <memory>
-#include <string>
 #include <utility>
 #include <vector>
 

diff --git a/...ior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp b/...ior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
@@ -35,7 +34,6 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner::utils::path_safety_checker
@@ -52,8 +50,6 @@ using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 using vehicle_info_util::VehicleInfo;
 
-namespace bg = boost::geometry;
-
 bool isTargetObjectOncoming(
   const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose);
 

diff --git a/...g/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp b/...g/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
@@ -15,16 +15,13 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 
-#include "behavior_path_planner/parameters.hpp"
-
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/point.hpp>
 
 #include <boost/optional.hpp>
 
-#include <algorithm>
 #include <string>
 #include <utility>
 #include <vector>

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
@@ -20,9 +20,6 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
-#include <memory>
-#include <string>
-
 namespace behavior_path_planner
 {
 using autoware_auto_planning_msgs::msg::PathWithLaneId;

diff --git a/...nner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp b/...nner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp
@@ -15,7 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__START_GOAL_PLANNER_COMMON__COMMON_MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__START_GOAL_PLANNER_COMMON__COMMON_MODULE_DATA_HPP_
 
-#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>

diff --git a/...ior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp b/...ior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp
@@ -24,7 +24,6 @@
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <memory>
-#include <vector>
 
 namespace behavior_path_planner
 {

diff --git a/..._path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp b/..._path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__START_PLANNER__PULL_OUT_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
 #include "behavior_path_planner/utils/start_planner/start_planner_parameters.hpp"
@@ -27,14 +26,13 @@
 #include <boost/optional.hpp>
 
 #include <memory>
-#include <vector>
 
+namespace behavior_path_planner
+{
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Pose;
 using tier4_autoware_utils::LinearRing2d;
 
-namespace behavior_path_planner
-{
 enum class PlannerType {
   NONE = 0,
   SHIFT = 1,