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refactor(behavior_path_planner): change util to utils #3395

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Apr 13, 2023
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refactor(behavior_path_planner): change util to utils #3395

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42 changes: 21 additions & 21 deletions planning/behavior_path_planner/CMakeLists.txt
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Expand Up @@ -21,27 +21,27 @@ set(common_src
src/scene_module/lane_change/lane_change_module.cpp
src/scene_module/lane_change/external_request_lane_change_module.cpp
src/turn_signal_decider.cpp
src/util/utils.cpp
src/util/path_utils.cpp
src/util/safety_check.cpp
src/util/avoidance/util.cpp
src/util/lane_change/util.cpp
src/util/side_shift/util.cpp
src/util/pull_over/util.cpp
src/util/pull_over/shift_pull_over.cpp
src/util/pull_over/geometric_pull_over.cpp
src/util/pull_over/freespace_pull_over.cpp
src/util/pull_over/goal_searcher.cpp
src/util/pull_out/util.cpp
src/util/pull_out/shift_pull_out.cpp
src/util/pull_out/geometric_pull_out.cpp
src/util/path_shifter/path_shifter.cpp
src/util/drivable_area_expansion/drivable_area_expansion.cpp
src/util/drivable_area_expansion/map_utils.cpp
src/util/drivable_area_expansion/footprints.cpp
src/util/drivable_area_expansion/expansion.cpp
src/util/geometric_parallel_parking/geometric_parallel_parking.cpp
src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
src/utils/utils.cpp
src/utils/path_utils.cpp
src/utils/safety_check.cpp
src/utils/avoidance/util.cpp
src/utils/lane_change/util.cpp
src/utils/side_shift/util.cpp
src/utils/pull_over/util.cpp
src/utils/pull_over/shift_pull_over.cpp
src/utils/pull_over/geometric_pull_over.cpp
src/utils/pull_over/freespace_pull_over.cpp
src/utils/pull_over/goal_searcher.cpp
src/utils/pull_out/util.cpp
src/utils/pull_out/shift_pull_out.cpp
src/utils/pull_out/geometric_pull_out.cpp
src/utils/path_shifter/path_shifter.cpp
src/utils/drivable_area_expansion/drivable_area_expansion.cpp
src/utils/drivable_area_expansion/map_utils.cpp
src/utils/drivable_area_expansion/footprints.cpp
src/utils/drivable_area_expansion/expansion.cpp
src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
src/marker_util/debug_utilities.cpp
src/marker_util/avoidance/debug.cpp
src/marker_util/lane_change/debug.cpp
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/behavior_path_planner_path_generation_design.md
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@@ -1,6 +1,6 @@
# Path Generation design

This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp).
This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp).

## Overview

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14 changes: 7 additions & 7 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Expand Up @@ -39,13 +39,13 @@

#include "behavior_path_planner/steering_factor_interface.hpp"
#include "behavior_path_planner/turn_signal_decider.hpp"
#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/util/avoidance_by_lc/module_data.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
#include "behavior_path_planner/util/lane_following/module_data.hpp"
#include "behavior_path_planner/util/pull_out/pull_out_parameters.hpp"
#include "behavior_path_planner/util/pull_over/pull_over_parameters.hpp"
#include "behavior_path_planner/util/side_shift/side_shift_parameters.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance_by_lc/module_data.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/pull_out/pull_out_parameters.hpp"
#include "behavior_path_planner/utils/pull_over/pull_over_parameters.hpp"
#include "behavior_path_planner/utils/side_shift/side_shift_parameters.hpp"

#include "tier4_planning_msgs/msg/detail/lane_change_debug_msg_array__struct.hpp"
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp
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Expand Up @@ -16,7 +16,7 @@
#define BEHAVIOR_PATH_PLANNER__DATA_MANAGER_HPP_

#include "behavior_path_planner/parameters.hpp"
#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"

#include <rclcpp/rclcpp.hpp>
#include <route_handler/route_handler.hpp>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp
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Expand Up @@ -16,7 +16,7 @@
#define BEHAVIOR_PATH_PLANNER__MARKER_UTIL__AVOIDANCE__DEBUG_HPP_

#include "behavior_path_planner/marker_util/debug_utilities.hpp"
#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"

#include <tier4_autoware_utils/ros/marker_helper.hpp>

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/marker_util/debug_utilities.hpp
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Expand Up @@ -14,7 +14,7 @@
#ifndef BEHAVIOR_PATH_PLANNER__MARKER_UTIL__DEBUG_UTILITIES_HPP_
#define BEHAVIOR_PATH_PLANNER__MARKER_UTIL__DEBUG_UTILITIES_HPP_

#include "behavior_path_planner/util/path_shifter/path_shifter.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>
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2 changes: 1 addition & 1 deletion ...ing/behavior_path_planner/include/behavior_path_planner/marker_util/lane_change/debug.hpp
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Expand Up @@ -16,7 +16,7 @@
#define BEHAVIOR_PATH_PLANNER__MARKER_UTIL__LANE_CHANGE__DEBUG_HPP_

#include "behavior_path_planner/marker_util/debug_utilities.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
#include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"

#include <string>
#include <unordered_map>
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
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Expand Up @@ -17,7 +17,7 @@

#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/util/lane_following/module_data.hpp"
#include "behavior_path_planner/utils/lane_following/module_data.hpp"

#include <rclcpp/rclcpp.hpp>

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2 changes: 1 addition & 1 deletion ...or_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"

#include <rclcpp/rclcpp.hpp>

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2 changes: 1 addition & 1 deletion ...ng/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/manager.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "behavior_path_planner/scene_module/avoidance/avoidance_module.hpp"
#include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"

#include <rclcpp/rclcpp.hpp>

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2 changes: 1 addition & 1 deletion ...avior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/manager.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "behavior_path_planner/scene_module/avoidance_by_lc/module.hpp"
#include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
#include "behavior_path_planner/util/avoidance_by_lc/module_data.hpp"
#include "behavior_path_planner/utils/avoidance_by_lc/module_data.hpp"

#include <rclcpp/rclcpp.hpp>

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8 changes: 4 additions & 4 deletions ...havior_path_planner/include/behavior_path_planner/scene_module/avoidance_by_lc/module.hpp
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Expand Up @@ -18,10 +18,10 @@
#include "behavior_path_planner/marker_util/lane_change/debug.hpp"
#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/turn_signal_decider.hpp"
#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/util/avoidance_by_lc/module_data.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance_by_lc/module_data.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 <rclcpp/rclcpp.hpp>

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4 changes: 2 additions & 2 deletions ...de/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp
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Expand Up @@ -18,8 +18,8 @@
#include "behavior_path_planner/marker_util/lane_change/debug.hpp"
#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/turn_signal_decider.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_path.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 <rclcpp/rclcpp.hpp>

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6 changes: 3 additions & 3 deletions ...ath_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp
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Expand Up @@ -18,9 +18,9 @@
#include "behavior_path_planner/marker_util/lane_change/debug.hpp"
#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/turn_signal_decider.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_path.hpp"
#include "behavior_path_planner/util/path_shifter/path_shifter.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_shifter/path_shifter.hpp"

#include <rclcpp/rclcpp.hpp>

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2 changes: 1 addition & 1 deletion ...anner/include/behavior_path_planner/scene_module/lane_following/lane_following_module.hpp
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Expand Up @@ -16,7 +16,7 @@
#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_FOLLOWING__LANE_FOLLOWING_MODULE_HPP_

#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/util/lane_following/module_data.hpp"
#include "behavior_path_planner/utils/lane_following/module_data.hpp"

#include <rclcpp/rclcpp.hpp>

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12 changes: 6 additions & 6 deletions ...vior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp
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Expand Up @@ -16,12 +16,12 @@
#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_MODULE_HPP_

#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
#include "behavior_path_planner/util/pull_out/geometric_pull_out.hpp"
#include "behavior_path_planner/util/pull_out/pull_out_parameters.hpp"
#include "behavior_path_planner/util/pull_out/pull_out_path.hpp"
#include "behavior_path_planner/util/pull_out/shift_pull_out.hpp"
#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
#include "behavior_path_planner/utils/pull_out/geometric_pull_out.hpp"
#include "behavior_path_planner/utils/pull_out/pull_out_parameters.hpp"
#include "behavior_path_planner/utils/pull_out/pull_out_path.hpp"
#include "behavior_path_planner/utils/pull_out/shift_pull_out.hpp"

#include <lane_departure_checker/lane_departure_checker.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
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14 changes: 7 additions & 7 deletions ...or_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp
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Expand Up @@ -16,13 +16,13 @@
#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__PULL_OVER_MODULE_HPP_

#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp"
#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
#include "behavior_path_planner/util/pull_over/freespace_pull_over.hpp"
#include "behavior_path_planner/util/pull_over/geometric_pull_over.hpp"
#include "behavior_path_planner/util/pull_over/goal_searcher.hpp"
#include "behavior_path_planner/util/pull_over/pull_over_parameters.hpp"
#include "behavior_path_planner/util/pull_over/shift_pull_over.hpp"
#include "behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp"
#include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
#include "behavior_path_planner/utils/pull_over/freespace_pull_over.hpp"
#include "behavior_path_planner/utils/pull_over/geometric_pull_over.hpp"
#include "behavior_path_planner/utils/pull_over/goal_searcher.hpp"
#include "behavior_path_planner/utils/pull_over/pull_over_parameters.hpp"
#include "behavior_path_planner/utils/pull_over/shift_pull_over.hpp"

#include <freespace_planning_algorithms/astar_search.hpp>
#include <freespace_planning_algorithms/rrtstar.hpp>
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2 changes: 1 addition & 1 deletion ...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
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Expand Up @@ -18,7 +18,7 @@
#include "behavior_path_planner/data_manager.hpp"
#include "behavior_path_planner/module_status.hpp"
#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
#include "behavior_path_planner/util/utils.hpp"
#include "behavior_path_planner/utils/utils.hpp"

#include <behavior_path_planner/steering_factor_interface.hpp>
#include <behavior_path_planner/turn_signal_decider.hpp>
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4 changes: 2 additions & 2 deletions ..._path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp
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Expand Up @@ -16,8 +16,8 @@
#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SIDE_SHIFT__SIDE_SHIFT_MODULE_HPP_

#include "behavior_path_planner/scene_module/scene_module_interface.hpp"
#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
#include "behavior_path_planner/util/side_shift/side_shift_parameters.hpp"
#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
#include "behavior_path_planner/utils/side_shift/side_shift_parameters.hpp"

#include <rclcpp/rclcpp.hpp>

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8 changes: 4 additions & 4 deletions .../util/avoidance/avoidance_module_data.hpp → ...utils/avoidance/avoidance_module_data.hpp
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Expand Up @@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_

#include "behavior_path_planner/util/path_shifter/path_shifter.hpp"
#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"

#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
Expand Down Expand Up @@ -526,4 +526,4 @@ struct DebugData

} // namespace behavior_path_planner

#endif // BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
8 changes: 4 additions & 4 deletions ...vior_path_planner/util/avoidance/util.hpp → ...ior_path_planner/utils/avoidance/util.hpp
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Expand Up @@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__UTIL_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__UTIL_HPP_
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__UTIL_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__UTIL_HPP_

#include "behavior_path_planner/data_manager.hpp"
#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"

#include <memory>
#include <string>
Expand Down Expand Up @@ -130,4 +130,4 @@ void filterTargetObjects(
const std::shared_ptr<AvoidanceParameters> & parameters);
} // namespace behavior_path_planner

#endif // BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE__UTIL_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__UTIL_HPP_
10 changes: 5 additions & 5 deletions ...nner/util/avoidance_by_lc/module_data.hpp → ...ner/utils/avoidance_by_lc/module_data.hpp
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Expand Up @@ -11,11 +11,11 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE_BY_LC__MODULE_DATA_HPP_

#include "behavior_path_planner/util/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/util/lane_change/lane_change_module_data.hpp"
#include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"

#include <memory>

Expand All @@ -42,4 +42,4 @@ struct AvoidanceByLCParameters

} // namespace behavior_path_planner

#endif // BEHAVIOR_PATH_PLANNER__UTIL__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE_BY_LC__MODULE_DATA_HPP_
6 changes: 3 additions & 3 deletions ...planner/util/create_vehicle_footprint.hpp → ...lanner/utils/create_vehicle_footprint.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef BEHAVIOR_PATH_PLANNER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__CREATE_VEHICLE_FOOTPRINT_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__CREATE_VEHICLE_FOOTPRINT_HPP_

#include <tier4_autoware_utils/geometry/geometry.hpp>
#include <vehicle_info_util/vehicle_info_util.hpp>
Expand Down Expand Up @@ -44,4 +44,4 @@ inline tier4_autoware_utils::LinearRing2d createVehicleFootprint(
return footprint;
}

#endif // BEHAVIOR_PATH_PLANNER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTILS__CREATE_VEHICLE_FOOTPRINT_HPP_
10 changes: 5 additions & 5 deletions ...rea_expansion/drivable_area_expansion.hpp → ...rea_expansion/drivable_area_expansion.hpp
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Expand Up @@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_

#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"

#include <route_handler/route_handler.hpp>

Expand Down Expand Up @@ -49,4 +49,4 @@ polygon_t createExpandedDrivableAreaPolygon(
void updateDrivableAreaBounds(PathWithLaneId & path, const polygon_t & expanded_drivable_area);
} // namespace drivable_area_expansion

#endif // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__DRIVABLE_AREA_EXPANSION_HPP_
10 changes: 5 additions & 5 deletions ...til/drivable_area_expansion/expansion.hpp → ...ils/drivable_area_expansion/expansion.hpp
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Expand Up @@ -12,11 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
#define BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_

#include "behavior_path_planner/util/drivable_area_expansion/parameters.hpp"
#include "behavior_path_planner/util/drivable_area_expansion/types.hpp"
#include "behavior_path_planner/utils/drivable_area_expansion/parameters.hpp"
#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"

#include <route_handler/route_handler.hpp>

Expand Down Expand Up @@ -82,4 +82,4 @@ multipolygon_t createExpansionLaneletPolygons(
const DrivableAreaExpansionParameters & params);
} // namespace drivable_area_expansion

#endif // BEHAVIOR_PATH_PLANNER__UTIL__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
#endif // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__EXPANSION_HPP_
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