From 64d80800c500d574bc14c1b65028f2fbfeeebc53 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 19 Oct 2023 14:43:32 +0900 Subject: [PATCH] refactor(behavior_path_planner): remove unused headers (#5341) * refactor(behavior_path_planner): remove unused headers Signed-off-by: Muhammad Zulfaqar Azmi * style(pre-commit): autofix * additional headers Signed-off-by: Muhammad Zulfaqar * additional headers removed Signed-off-by: Muhammad Zulfaqar --------- Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_path_planner/behavior_path_planner_node.hpp | 7 ------- .../include/behavior_path_planner/parameters.hpp | 1 - .../include/behavior_path_planner/planner_manager.hpp | 3 --- .../dynamic_avoidance/dynamic_avoidance_module.hpp | 5 +++++ .../scene_module/goal_planner/goal_planner_module.hpp | 2 ++ .../scene_module/scene_module_interface.hpp | 1 + .../behavior_path_planner/steering_factor_interface.hpp | 8 +++----- .../utils/avoidance/avoidance_module_data.hpp | 2 +- .../behavior_path_planner/utils/avoidance/utils.hpp | 3 --- .../utils/drivable_area_expansion/footprints.hpp | 6 ------ .../utils/drivable_area_expansion/parameters.hpp | 2 -- .../utils/drivable_area_expansion/path_projection.hpp | 1 - .../geometric_parallel_parking.hpp | 2 -- .../utils/goal_planner/default_fixed_goal_planner.hpp | 1 - .../utils/goal_planner/fixed_goal_planner_base.hpp | 2 -- .../utils/goal_planner/goal_searcher.hpp | 3 --- .../utils/goal_planner/goal_searcher_base.hpp | 2 -- .../utils/goal_planner/pull_over_planner_base.hpp | 1 - .../utils/lane_change/lane_change_module_data.hpp | 8 -------- .../behavior_path_planner/utils/lane_change/utils.hpp | 5 ----- .../utils/lane_following/module_data.hpp | 3 --- .../utils/path_safety_checker/objects_filtering.hpp | 1 - .../utils/path_safety_checker/safety_check.hpp | 4 ---- .../utils/path_shifter/path_shifter.hpp | 3 --- .../behavior_path_planner/utils/side_shift/util.hpp | 3 --- .../start_goal_planner_common/common_module_data.hpp | 1 - .../utils/start_planner/freespace_pull_out.hpp | 1 - .../utils/start_planner/pull_out_planner_base.hpp | 6 ++---- .../behavior_path_planner/utils/start_planner/util.hpp | 2 -- .../include/behavior_path_planner/utils/utils.hpp | 8 -------- .../src/behavior_path_planner_node.cpp | 8 ++++++-- .../src/marker_utils/avoidance/debug.cpp | 3 --- .../src/marker_utils/lane_change/debug.cpp | 2 -- .../behavior_path_planner/src/marker_utils/utils.cpp | 1 - planning/behavior_path_planner/src/planner_manager.cpp | 1 - .../src/scene_module/avoidance/avoidance_module.cpp | 5 ----- .../dynamic_avoidance/dynamic_avoidance_module.cpp | 3 +-- .../scene_module/goal_planner/goal_planner_module.cpp | 3 +-- .../lane_change/avoidance_by_lane_change.cpp | 1 - .../src/scene_module/lane_change/external_request.cpp | 9 --------- .../src/scene_module/lane_change/interface.cpp | 2 -- .../src/scene_module/lane_change/manager.cpp | 1 - .../src/scene_module/lane_change/normal.cpp | 2 +- .../src/scene_module/side_shift/side_shift_module.cpp | 1 - .../scene_module/start_planner/start_planner_module.cpp | 2 -- .../behavior_path_planner/src/utils/avoidance/utils.cpp | 1 - .../geometric_parallel_parking.cpp | 3 --- .../utils/goal_planner/default_fixed_goal_planner.cpp | 1 - .../src/utils/goal_planner/geometric_pull_over.cpp | 2 -- .../src/utils/goal_planner/goal_searcher.cpp | 2 -- .../src/utils/goal_planner/shift_pull_over.cpp | 2 -- .../src/utils/goal_planner/util.cpp | 4 ---- .../src/utils/lane_change/utils.cpp | 4 ++-- .../src/utils/path_safety_checker/objects_filtering.cpp | 1 + .../src/utils/path_safety_checker/safety_check.cpp | 6 +++--- .../src/utils/path_shifter/path_shifter.cpp | 2 -- planning/behavior_path_planner/src/utils/path_utils.cpp | 2 -- planning/behavior_path_planner/src/utils/utils.cpp | 5 ++--- planning/behavior_path_planner/test/input.hpp | 7 ++++++- 59 files changed, 37 insertions(+), 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 index e8ad6c7e2f987..420a5a8aa6ee5 100644 --- 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 index e3a3784c5e928..40df1f5157c71 100644 --- 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 #include -#include #include #include 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 index 4b9b0bff4be63..c0437aa69764a 100644 --- 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 -#include "tier4_debug_msgs/msg/float64_stamped.hpp" #include #include #include #include -#include #include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index ab8e3cfd70dff..6c522c79a8774 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/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 +#include #include +#include #include #include #include @@ -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/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 632872471ce29..251b72ea6eadb 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -32,6 +32,7 @@ #include #include #include +#include #include #include @@ -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/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp index 68faa3806f614..7f24683e5680c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp +++ b/planning/behavior_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 index 8afe0576ec1aa..3a334cf67edbf 100644 --- 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 -#include "autoware_adapi_v1_msgs/msg/steering_factor_array.hpp" -#include "geometry_msgs/msg/pose.hpp" -#include "unique_identifier_msgs/msg/uuid.hpp" +#include +#include #include #include -#include namespace steering_factor_interface { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index d04b35a3b185b..74464be0fa5ea 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_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 index 8cb09cd47b444..0237fb458ea0b 100644 --- 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 #include -#include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp index 418a9a5a68572..9591ac0582e04 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp @@ -20,7 +20,6 @@ #include -#include "autoware_auto_planning_msgs/msg/detail/path_point__struct.hpp" #include #include #include @@ -31,11 +30,6 @@ #include #include -#include -#include -#include -#include - namespace drivable_area_expansion { /// @brief translate a polygon by some (x,y) vector diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp index e7275960b0888..2f9604223a248 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp +++ b/planning/behavior_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 #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp index 93afaad825582..3f5327acbca68 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp @@ -21,7 +21,6 @@ #include -#include #include namespace drivable_area_expansion diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp index c2d36fdd6e0d7..f4ab10db61b9c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp @@ -30,9 +30,7 @@ #include -#include #include -#include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp index 40c339e507683..9cede67fff6e5 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp @@ -20,7 +20,6 @@ #include #include -#include namespace behavior_path_planner { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp index 3bc0e960fe468..f587051442dcd 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp +++ b/planning/behavior_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 #include #include -#include using autoware_auto_planning_msgs::msg::PathWithLaneId; using geometry_msgs::msg::Pose; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp index 9d957ae9767c9..2ed58b9678e70 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp +++ b/planning/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 #include namespace behavior_path_planner { -using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using tier4_autoware_utils::LinearRing2d; using BasicPolygons2d = std::vector; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp index 7364ea91339e4..ab319111f6da6 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp +++ b/planning/behavior_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 -#include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index 20788e53309ec..54bba6aee2fc2 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_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/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index 8b9ef52394cdd..c664ae3e15aef 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_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 -#include -#include -#include -#include #include 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 index cd8f293b2e610..ac712fa2f0fa5 100644 --- 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 @@ -32,10 +30,7 @@ #include -#include #include -#include -#include #include namespace behavior_path_planner::utils::lane_change diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp index 93e4542568745..98d52b79e2edf 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp +++ b/planning/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 -#include - namespace behavior_path_planner { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp index 15b15bac40b51..67588ed0a67b6 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp @@ -27,7 +27,6 @@ #include #include -#include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp index 64f5c9e5fc3e0..8409116236169 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_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 @@ -35,7 +34,6 @@ #include #endif -#include #include 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/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp index 4b1115a049ab0..91ed95b14b905 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp @@ -15,8 +15,6 @@ #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 #include @@ -24,7 +22,6 @@ #include -#include #include #include #include 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 index 65d79a2a4977b..6cdfd84d79075 100644 --- 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 #include -#include -#include - namespace behavior_path_planner { using autoware_auto_planning_msgs::msg::PathWithLaneId; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp index 55b8bdf777692..7a973a3bd699f 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp +++ b/planning/behavior_path_planner/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 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp index 2b2de183b2dac..d78df16f89a80 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp @@ -24,7 +24,6 @@ #include #include -#include namespace behavior_path_planner { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp index cb662efd767bf..4c9271d57127d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp +++ b/planning/behavior_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 #include -#include +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, diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp index f2dba684de991..e7f51b2e86d5b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp @@ -18,7 +18,6 @@ #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_safety_checker/safety_check.hpp" -#include "behavior_path_planner/utils/start_planner/pull_out_path.hpp" #include @@ -32,7 +31,6 @@ #include #include -#include namespace behavior_path_planner::start_planner_utils { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index 3e03a09d3adf8..f418c9c7300f7 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -16,14 +16,8 @@ #define BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_ #include "behavior_path_planner/data_manager.hpp" -#include "behavior_path_planner/marker_utils/utils.hpp" -#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp" -#include "behavior_path_planner/utils/lane_following/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 "behavior_path_planner/utils/start_planner/pull_out_path.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -51,8 +45,6 @@ #include #include #include -#include -#include #include namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 3fb9060835698..52adfc72ce761 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -15,8 +15,13 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include "behavior_path_planner/marker_utils/utils.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/interface.hpp" -#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp" +#include "behavior_path_planner/scene_module/lane_change/manager.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/utils/path_utils.hpp" #include @@ -26,7 +31,6 @@ #include #include -#include #include namespace diff --git a/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp index 14a7d5be6a58a..ce9cedc816a19 100644 --- a/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp @@ -14,9 +14,7 @@ #include "behavior_path_planner/marker_utils/avoidance/debug.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include @@ -29,7 +27,6 @@ namespace marker_utils::avoidance_marker { -using behavior_path_planner::AvoidLine; using tier4_autoware_utils::appendMarkerArray; using tier4_autoware_utils::calcDistance2d; using tier4_autoware_utils::calcOffsetPose; diff --git a/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp b/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp index a1b77b1802999..a7604124ebe43 100644 --- a/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp +++ b/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp @@ -25,8 +25,6 @@ #include #include -#include -#include #include #include diff --git a/planning/behavior_path_planner/src/marker_utils/utils.cpp b/planning/behavior_path_planner/src/marker_utils/utils.cpp index 03ac135ec4bc1..031926f2d9d1d 100644 --- a/planning/behavior_path_planner/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/src/marker_utils/utils.cpp @@ -17,7 +17,6 @@ #include "behavior_path_planner/marker_utils/colors.hpp" #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "behavior_path_planner/utils/path_utils.hpp" -#include "behavior_path_planner/utils/utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index d0e55ffa574fd..4c3d7cff0c24c 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -14,7 +14,6 @@ #include "behavior_path_planner/planner_manager.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "tier4_autoware_utils/ros/debug_publisher.hpp" #include "tier4_autoware_utils/system/stop_watch.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index b4b0a871eec62..84064a1c38bcb 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -52,17 +52,12 @@ namespace behavior_path_planner { -using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug; using motion_utils::calcLongitudinalOffsetPose; using motion_utils::calcSignedArcLength; using motion_utils::findNearestIndex; -using motion_utils::findNearestSegmentIndex; using tier4_autoware_utils::appendMarkerArray; using tier4_autoware_utils::calcDistance2d; -using tier4_autoware_utils::calcInterpolatedPose; using tier4_autoware_utils::calcLateralDeviation; -using tier4_autoware_utils::calcLongitudinalDeviation; -using tier4_autoware_utils::calcYawDeviation; using tier4_autoware_utils::getPoint; using tier4_autoware_utils::getPose; using tier4_autoware_utils::toHexString; diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 24c074bcb629b..d8434593d2214 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -14,8 +14,8 @@ #include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" +#include "object_recognition_utils/predicted_path_utils.hpp" #include "signal_processing/lowpass_filter_1d.hpp" #include @@ -30,7 +30,6 @@ #include #include #include -#include #include #include namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index dc1ac1466397d..6253097b1692d 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -17,11 +17,11 @@ #include "behavior_path_planner/utils/create_vehicle_footprint.hpp" #include "behavior_path_planner/utils/goal_planner/util.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp" #include "behavior_path_planner/utils/utils.hpp" -#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include "tier4_autoware_utils/math/unit_conversion.hpp" #include @@ -38,7 +38,6 @@ #include using behavior_path_planner::utils::start_goal_planner_common::calcFeasibleDecelDistance; -using motion_utils::calcDecelDistWithJerkAndAccConstraints; using motion_utils::calcLongitudinalOffsetPose; using motion_utils::calcSignedArcLength; using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints; diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp index 1f305e3988828..daba02e1cee89 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp @@ -17,7 +17,6 @@ #include "behavior_path_planner/utils/avoidance/utils.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_utils.hpp" -#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp index a74a51b7e2cdb..3a304a9b5bb53 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp @@ -14,18 +14,9 @@ #include "behavior_path_planner/scene_module/lane_change/external_request.hpp" -#include "behavior_path_planner/scene_module/scene_module_visitor.hpp" -#include "behavior_path_planner/utils/lane_change/utils.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" - #include -#include -#include #include -#include -#include -#include namespace behavior_path_planner { diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 0a0cc3436bce7..22c8ac022ad1a 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -19,12 +19,10 @@ #include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/utils/lane_change/utils.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" #include #include -#include #include #include #include diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp index c6995ada1bfa6..78e05c940a814 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -21,7 +21,6 @@ #include #include -#include #include namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index de4afc9260da0..de120592e7505 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -15,9 +15,9 @@ #include "behavior_path_planner/scene_module/lane_change/normal.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" -#include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/utils/lane_change/utils.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" +#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index 4e9680cee4d59..2232c6d750d55 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -32,7 +32,6 @@ using motion_utils::calcSignedArcLength; using motion_utils::findNearestIndex; using motion_utils::findNearestSegmentIndex; using tier4_autoware_utils::calcDistance2d; -using tier4_autoware_utils::calcOffsetPose; using tier4_autoware_utils::getPoint; SideShiftModule::SideShiftModule( diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index c828a747856d8..ed14292747e68 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -20,7 +20,6 @@ #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp" #include "behavior_path_planner/utils/start_planner/util.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include #include @@ -39,7 +38,6 @@ using motion_utils::calcLongitudinalOffsetPose; using tier4_autoware_utils::calcOffsetPose; -using tier4_autoware_utils::inverseTransformPoint; namespace behavior_path_planner { diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp index 8fb30a28f1272..a9f40dad86ae4 100644 --- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp +++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp @@ -18,7 +18,6 @@ #include "behavior_path_planner/utils/avoidance/utils.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_utils.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include diff --git a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp index 3d315e7213f96..d5bf67f754ab7 100644 --- a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp @@ -17,7 +17,6 @@ #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/start_planner/util.hpp" #include "behavior_path_planner/utils/utils.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/math/unit_conversion.hpp" @@ -37,8 +36,6 @@ #include -#include -#include #include #include diff --git a/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp b/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp index 7efdbdf1552d5..4c9832c374c63 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp @@ -21,7 +21,6 @@ #include #include -#include namespace behavior_path_planner { diff --git a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp index a80f7892b0bef..017ecb218bea3 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp @@ -15,8 +15,6 @@ #include "behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp" #include "behavior_path_planner/utils/goal_planner/util.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include #include diff --git a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp index 12044980ebd81..1e6dc1776359b 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp @@ -20,7 +20,6 @@ #include "lanelet2_extension/regulatory_elements/no_parking_area.hpp" #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp" #include "lanelet2_extension/utility/utilities.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include @@ -37,7 +36,6 @@ using lane_departure_checker::LaneDepartureChecker; using lanelet::autoware::NoParkingArea; using lanelet::autoware::NoStoppingArea; using tier4_autoware_utils::calcOffsetPose; -using tier4_autoware_utils::inverseTransformPose; // Sort with smaller longitudinal distances taking precedence over smaller lateral distances. struct SortByLongitudinalDistance diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp index e1bdaf977dad8..60cc2d19c5f35 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp @@ -16,8 +16,6 @@ #include "behavior_path_planner/utils/goal_planner/util.hpp" #include "behavior_path_planner/utils/path_utils.hpp" -#include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include #include diff --git a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp index e7fa5e42dc092..1cd985d566f73 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp @@ -14,9 +14,6 @@ #include "behavior_path_planner/utils/goal_planner/util.hpp" -#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" -#include "behavior_path_planner/utils/path_utils.hpp" - #include #include #include @@ -29,7 +26,6 @@ #include #include -#include #include #include #include diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp index 6d25cb8751a8e..d5867c40824d2 100644 --- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp +++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp @@ -14,13 +14,14 @@ #include "behavior_path_planner/utils/lane_change/utils.hpp" +#include "behavior_path_planner/marker_utils/utils.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/safety_check.hpp" #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" +#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -39,7 +40,6 @@ #include #include -#include #include #include diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp index dfc9f76b25e33..a7c604985de3a 100644 --- a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp @@ -15,6 +15,7 @@ #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/utils.hpp" +#include "object_recognition_utils/predicted_path_utils.hpp" #include #include diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp index 08ebd01ba5d05..8ebc144a34584 100644 --- a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp @@ -14,11 +14,8 @@ #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" -#include "behavior_path_planner/marker_utils/utils.hpp" #include "interpolation/linear_interpolation.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include "motion_utils/trajectory/trajectory.hpp" -#include "object_recognition_utils/predicted_path_utils.hpp" #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include @@ -27,6 +24,9 @@ namespace behavior_path_planner::utils::path_safety_checker { + +namespace bg = boost::geometry; + void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point & geom_point) { Point2d point; diff --git a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp index 21d4ff666e28a..df2d82b1072d4 100644 --- a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp @@ -15,13 +15,11 @@ #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "behavior_path_planner/utils/path_utils.hpp" -#include "behavior_path_planner/utils/utils.hpp" #include #include #include -#include #include #include #include diff --git a/planning/behavior_path_planner/src/utils/path_utils.cpp b/planning/behavior_path_planner/src/utils/path_utils.cpp index 1ac63f4a4be87..3ac3c09ba0d97 100644 --- a/planning/behavior_path_planner/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/src/utils/path_utils.cpp @@ -15,7 +15,6 @@ #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" -#include "motion_utils/trajectory/path_with_lane_id.hpp" #include #include @@ -23,7 +22,6 @@ #include #include -// #include #include #include diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index cb0486b6cd01b..6927327e24ef4 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -15,7 +15,9 @@ #include "behavior_path_planner/utils/utils.hpp" #include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp" +#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "motion_utils/trajectory/path_with_lane_id.hpp" +#include "object_recognition_utils/predicted_path_utils.hpp" #include #include @@ -24,9 +26,6 @@ #include #include -#include "autoware_auto_perception_msgs/msg/predicted_object.hpp" -#include "autoware_auto_perception_msgs/msg/predicted_path.hpp" - #include #include diff --git a/planning/behavior_path_planner/test/input.hpp b/planning/behavior_path_planner/test/input.hpp index de167bc8b4bcb..ededb32f78be0 100644 --- a/planning/behavior_path_planner/test/input.hpp +++ b/planning/behavior_path_planner/test/input.hpp @@ -16,9 +16,11 @@ #define INPUT_HPP_ #endif // INPUT_HPP_ -#include "behavior_path_planner/utils/utils.hpp" #include "autoware_auto_planning_msgs/msg/path_point.hpp" +#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp" +#include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp" +#include "geometry_msgs/msg/pose.hpp" #include "geometry_msgs/msg/twist.hpp" #include @@ -26,6 +28,9 @@ namespace behavior_path_planner { using autoware_auto_planning_msgs::msg::PathPoint; +using autoware_auto_planning_msgs::msg::PathPointWithLaneId; +using autoware_auto_planning_msgs::msg::PathWithLaneId; +using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; PathWithLaneId generateStraightSamplePathWithLaneId( float initial_pose_value, float pose_increment, size_t point_sample);