chore(build): remove tier4_autoware_utils.hpp/motion_utils.hpp from b…

…ehavior_path_planner (autowarefoundation#4936)

Signed-off-by: Mamoru Sobue <[email protected]>

planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp

@@ -18,8 +18,8 @@
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/turn_signal_decider.hpp"
 #include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
+#include "motion_utils/trajectory/trajectory.hpp"
 
-#include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
 

planning/behavior_path_planner/include/behavior_path_planner/marker_utils/utils.hpp

@@ -17,9 +17,8 @@
 #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"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>

planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp

@@ -19,6 +19,7 @@
 #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/system/stop_watch.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>

planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp

@@ -22,10 +22,15 @@
 #include <behavior_path_planner/steering_factor_interface.hpp>
 #include <behavior_path_planner/turn_signal_decider.hpp>
 #include <magic_enum.hpp>
+#include <motion_utils/marker/marker_helper.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
+#include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
 #include <rtc_interface/rtc_interface.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>

planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp

@@ -20,10 +20,11 @@
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 
 #include <lanelet2_core/geometry/Lanelet.h>

planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp

@@ -22,11 +22,11 @@
 #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/motion_utils.hpp"
+#include "motion_utils/trajectory/trajectory.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include <route_handler/route_handler.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -19,7 +19,7 @@
 #include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/ros/update_param.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <tier4_planning_msgs/msg/path_change_module_id.hpp>

planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp

@@ -16,6 +16,7 @@
 
 #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 <magic_enum.hpp>
 

planning/behavior_path_planner/src/marker_utils/utils.cpp

@@ -19,8 +19,9 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
-
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 namespace marker_utils
 {
 using behavior_path_planner::ShiftLine;

planning/behavior_path_planner/src/planner_manager.cpp

@@ -16,6 +16,7 @@
 
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

@@ -23,7 +23,10 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>

planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp

@@ -14,6 +14,9 @@
 
 #include "behavior_path_planner/scene_module/avoidance/manager.hpp"
 
+#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp

@@ -20,7 +20,7 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <algorithm>
 #include <limits>

planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp

@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
 
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp

@@ -21,13 +21,12 @@
 #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/math/unit_conversion.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>
-#include <motion_utils/motion_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <algorithm>
 #include <limits>

planning/behavior_path_planner/src/scene_module/goal_planner/manager.cpp

@@ -15,8 +15,8 @@
 #include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
+#include "tier4_autoware_utils/ros/update_param.hpp"
 
-#include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp

@@ -14,6 +14,9 @@
 
 #include "behavior_path_planner/scene_module/lane_change/manager.hpp"
 
+#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

@@ -23,6 +23,7 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <algorithm>
 #include <limits>

planning/behavior_path_planner/src/scene_module/side_shift/manager.cpp

@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/scene_module/side_shift/manager.hpp"
 
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp

@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/scene_module/start_planner/manager.hpp"
 
+#include "tier4_autoware_utils/ros/update_param.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

@@ -24,7 +24,6 @@
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <algorithm>
 #include <memory>

planning/behavior_path_planner/src/turn_signal_decider.cpp

@@ -18,9 +18,13 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/constants.hpp>
 #include <motion_utils/resample/resample.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <limits>
 #include <string>

planning/behavior_path_planner/src/utils/avoidance/utils.cpp

@@ -17,10 +17,14 @@
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/avoidance/utils.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 <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
 

planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp

@@ -17,12 +17,13 @@
 #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"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_eigen/tf2_eigen.h>

planning/behavior_path_planner/src/utils/goal_planner/freespace_pull_over.cpp

@@ -17,6 +17,7 @@
 #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 "tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp"
 
 #include <memory>
 #include <vector>

planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp

@@ -16,6 +16,7 @@
 
 #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 <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>

planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp

@@ -18,7 +18,9 @@
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
+#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
+#include <boost/geometry/algorithms/union.hpp>
 #include <boost/optional.hpp>
 
 #include <memory>

planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp

@@ -16,6 +16,7 @@
 
 #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 <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>

planning/behavior_path_planner/src/utils/lane_change/utils.cpp

@@ -25,8 +25,11 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <tf2/utils.h>

planning/behavior_path_planner/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp

@@ -15,7 +15,7 @@
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
 
 #include <vector>
 

planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp

@@ -16,6 +16,10 @@
 
 #include "behavior_path_planner/utils/utils.hpp"
 
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
+
 namespace behavior_path_planner::utils::path_safety_checker
 {
 

planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp

@@ -16,8 +16,10 @@
 
 #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"
 
 namespace behavior_path_planner::utils::path_safety_checker
 {

planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp

@@ -19,7 +19,7 @@
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 
 #include <limits>
 #include <string>

planning/behavior_path_planner/src/utils/path_utils.cpp

@@ -15,11 +15,13 @@
 #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 <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/resample/resample.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <motion_utils/trajectory/interpolation.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tf2/utils.h>
 

planning/behavior_path_planner/src/utils/start_goal_planner_common/utils.cpp

@@ -14,6 +14,8 @@
 
 #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
 
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
+
 namespace behavior_path_planner::utils::start_goal_planner_common
 {
 

planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp

@@ -19,6 +19,7 @@
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <tier4_autoware_utils/geometry/path_with_lane_id_geometry.hpp>
 
 using lanelet::utils::getArcCoordinates;
 using motion_utils::findNearestIndex;

planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp

@@ -18,6 +18,7 @@
 #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 <lanelet2_extension/utility/utilities.hpp>
 

planning/behavior_path_planner/src/utils/start_planner/util.cpp

@@ -20,6 +20,7 @@
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>