From ce82f3d43a553da4b5480a44c03f9b548c7fcdf2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 20 Feb 2023 15:19:19 +0900 Subject: [PATCH] chore(utils): move utils directory (#2911) Signed-off-by: satoshi-ota --- planning/behavior_path_planner/CMakeLists.txt | 6 +++--- .../include/behavior_path_planner/debug_utilities.hpp | 2 +- .../include/behavior_path_planner/path_utilities.hpp | 3 ++- .../scene_module/avoidance/avoidance_module.hpp | 1 - .../scene_module/avoidance/avoidance_module_data.hpp | 2 +- .../behavior_path_planner/scene_module/avoidance/debug.hpp | 1 - .../scene_module/lane_change/lane_change_module.hpp | 1 + .../scene_module/lane_change/lane_change_path.hpp | 1 - .../scene_module/pull_out/geometric_pull_out.hpp | 2 +- .../scene_module/pull_out/pull_out_module.hpp | 4 ++-- .../scene_module/pull_out/pull_out_path.hpp | 2 +- .../scene_module/pull_over/geometric_pull_over.hpp | 4 ++-- .../scene_module/pull_over/goal_searcher.hpp | 2 +- .../scene_module/pull_over/pull_over_module.hpp | 4 ++-- .../scene_module/pull_over/shift_pull_over.hpp | 2 +- .../scene_module/side_shift/side_shift_module.hpp | 2 +- .../geometric_parallel_parking.hpp | 6 +++--- .../occupancy_grid_based_collision_detector.hpp | 6 +++--- .../utils => util/path_shifter}/path_shifter.hpp | 6 +++--- .../src/scene_module/lane_change/debug.cpp | 2 +- .../src/scene_module/lane_change/util.cpp | 2 +- .../src/scene_module/pull_out/util.cpp | 2 +- .../src/scene_module/pull_over/pull_over_module.cpp | 2 +- .../src/scene_module/pull_over/util.cpp | 2 +- .../geometric_parallel_parking.cpp | 2 +- .../occupancy_grid_based_collision_detector.cpp | 2 +- .../utils => util/path_shifter}/path_shifter.cpp | 2 +- 27 files changed, 36 insertions(+), 37 deletions(-) rename planning/behavior_path_planner/include/behavior_path_planner/{scene_module/utils => util/geometric_parallel_parking}/geometric_parallel_parking.hpp (94%) rename planning/behavior_path_planner/include/behavior_path_planner/{scene_module/utils => util/occupancy_grid_based_collision_detector}/occupancy_grid_based_collision_detector.hpp (92%) rename planning/behavior_path_planner/include/behavior_path_planner/{scene_module/utils => util/path_shifter}/path_shifter.hpp (96%) rename planning/behavior_path_planner/src/{scene_module/utils => util/geometric_parallel_parking}/geometric_parallel_parking.cpp (99%) rename planning/behavior_path_planner/src/{scene_module/utils => util/occupancy_grid_based_collision_detector}/occupancy_grid_based_collision_detector.cpp (98%) rename planning/behavior_path_planner/src/{scene_module/utils => util/path_shifter}/path_shifter.cpp (99%) diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 243dfd9c1e499..afb2a152a0953 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -35,10 +35,10 @@ ament_auto_add_library(behavior_path_planner_node SHARED src/scene_module/pull_out/util.cpp src/scene_module/pull_out/shift_pull_out.cpp src/scene_module/pull_out/geometric_pull_out.cpp - src/scene_module/utils/geometric_parallel_parking.cpp - src/scene_module/utils/occupancy_grid_based_collision_detector.cpp - src/scene_module/utils/path_shifter.cpp src/scene_module/scene_module_visitor.cpp + src/util/geometric_parallel_parking/geometric_parallel_parking.cpp + src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.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 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp index ac92ed7e40a00..1222b824ff7ed 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/debug_utilities.hpp @@ -14,7 +14,7 @@ #ifndef BEHAVIOR_PATH_PLANNER__DEBUG_UTILITIES_HPP_ #define BEHAVIOR_PATH_PLANNER__DEBUG_UTILITIES_HPP_ -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include "tier4_autoware_utils/tier4_autoware_utils.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp index 09269e8cb7456..0e423dbd46c95 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/path_utilities.hpp @@ -15,8 +15,9 @@ #ifndef BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_ #define BEHAVIOR_PATH_PLANNER__PATH_UTILITIES_HPP_ +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" + #include -#include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp index 43c6467dc672d..1b1163b1c1b43 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp @@ -18,7 +18,6 @@ #include "behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp" #include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp index 80be249ee1209..bd96d2b674d83 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp @@ -15,7 +15,7 @@ #ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_ #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_ -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp index e67bc01b98b1f..babafb240504b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp @@ -17,7 +17,6 @@ #include "behavior_path_planner/debug_utilities.hpp" #include "behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp index aff6ec098368a..baa5931690803 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp @@ -20,6 +20,7 @@ #include "behavior_path_planner/scene_module/lane_change/lane_change_path.hpp" #include "behavior_path_planner/scene_module/scene_module_interface.hpp" #include "behavior_path_planner/turn_signal_decider.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_path.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_path.hpp index caefa3d357ca4..00dbd3849799d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_path.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_path.hpp @@ -16,7 +16,6 @@ #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__LANE_CHANGE_PATH_HPP_ #include "behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" #include "behavior_path_planner/turn_signal_decider.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp index 73f3ae83c0f6c..769162340dc88 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/geometric_pull_out.hpp @@ -17,7 +17,7 @@ #include "behavior_path_planner/scene_module/pull_out/pull_out_path.hpp" #include "behavior_path_planner/scene_module/pull_out/pull_out_planner_base.hpp" -#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp" +#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp index 342f2c8983cac..62f97418ed4ac 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_module.hpp @@ -20,8 +20,8 @@ #include "behavior_path_planner/scene_module/pull_out/pull_out_path.hpp" #include "behavior_path_planner/scene_module/pull_out/shift_pull_out.hpp" #include "behavior_path_planner/scene_module/scene_module_interface.hpp" -#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_path.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_path.hpp index 3f49dd82b8b29..ec78a44c65256 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_path.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_out/pull_out_path.hpp @@ -15,7 +15,7 @@ #ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PATH_HPP_ #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OUT__PULL_OUT_PATH_HPP_ -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/geometric_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/geometric_pull_over.hpp index a4757cf1ca16d..c8cf335c6b5a7 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/geometric_pull_over.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/geometric_pull_over.hpp @@ -16,8 +16,8 @@ #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__GEOMETRIC_PULL_OVER_HPP_ #include "behavior_path_planner/scene_module/pull_over/pull_over_planner_base.hpp" -#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp" -#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.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 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/goal_searcher.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/goal_searcher.hpp index b0a909a36ac13..3d6ca78264d72 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/goal_searcher.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/goal_searcher.hpp @@ -16,7 +16,7 @@ #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__GOAL_SEARCHER_HPP_ #include "behavior_path_planner/scene_module/pull_over/goal_searcher_base.hpp" -#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp" +#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp" diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp index 4d463c9c3fa09..3de6c0a44d1c0 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/pull_over_module.hpp @@ -20,8 +20,8 @@ #include "behavior_path_planner/scene_module/pull_over/pull_over_parameters.hpp" #include "behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp" #include "behavior_path_planner/scene_module/scene_module_interface.hpp" -#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp" -#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.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 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp index 148e58d3ba904..63c7063b66d1d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/pull_over/shift_pull_over.hpp @@ -16,7 +16,7 @@ #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__PULL_OVER__SHIFT_PULL_OVER_HPP_ #include "behavior_path_planner/scene_module/pull_over/pull_over_planner_base.hpp" -#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp" +#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp index 49404c4613984..9457f01760fff 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp @@ -16,7 +16,7 @@ #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/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp similarity index 94% rename from planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp rename to planning/behavior_path_planner/include/behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp index b9df9623b2b25..90102cb69e053 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_ -#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_ +#ifndef BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_ #include "behavior_path_planner/data_manager.hpp" #include "behavior_path_planner/parameters.hpp" @@ -129,4 +129,4 @@ class GeometricParallelParking }; } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__GEOMETRIC_PARALLEL_PARKING_HPP_ +#endif // BEHAVIOR_PATH_PLANNER__UTIL__GEOMETRIC_PARALLEL_PARKING__GEOMETRIC_PARALLEL_PARKING_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp similarity index 92% rename from planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp rename to planning/behavior_path_planner/include/behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp index 41e7714156ebc..8364c0bd7cc09 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ -#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ +#ifndef BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ #include @@ -149,4 +149,4 @@ class OccupancyGridBasedCollisionDetector } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ +#endif // BEHAVIOR_PATH_PLANNER__UTIL__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/path_shifter.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp similarity index 96% rename from planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/path_shifter.hpp rename to planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp index 09922a98d0b0b..ee41a91cd500a 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/path_shifter.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__PATH_SHIFTER_HPP_ -#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__PATH_SHIFTER_HPP_ +#ifndef BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_ #include "behavior_path_planner/parameters.hpp" @@ -226,4 +226,4 @@ class PathShifter } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__UTILS__PATH_SHIFTER_HPP_ +#endif // BEHAVIOR_PATH_PLANNER__UTIL__PATH_SHIFTER__PATH_SHIFTER_HPP_ diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/debug.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/debug.cpp index 28dcaccd090f7..a48fda14f6e15 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/debug.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/debug.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp index 9eea7e50315ef..159a8a23523c1 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp @@ -18,7 +18,7 @@ #include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp" #include "behavior_path_planner/scene_module/lane_change/lane_change_path.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include "behavior_path_planner/utilities.hpp" #include diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/util.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/util.cpp index 09304d1665cc2..98eb91134c1cd 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/util.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/util.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/scene_module/pull_out/util.hpp" #include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" #include "behavior_path_planner/util/create_vehicle_footprint.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index 138848bfef99a..4f78de15c88d7 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp @@ -16,8 +16,8 @@ #include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/pull_over/util.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" #include "behavior_path_planner/util/create_vehicle_footprint.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include "behavior_path_planner/utilities.hpp" #include diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp index c691208c9415c..561f6ee4664fb 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/util.cpp @@ -15,7 +15,7 @@ #include "behavior_path_planner/scene_module/pull_over/util.hpp" #include "behavior_path_planner/path_utilities.hpp" -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp similarity index 99% rename from planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp rename to planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp index 913139774136f..b14a748ddc91b 100644 --- a/planning/behavior_path_planner/src/scene_module/utils/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/src/util/geometric_parallel_parking/geometric_parallel_parking.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/scene_module/utils/geometric_parallel_parking.hpp" +#include "behavior_path_planner/util/geometric_parallel_parking/geometric_parallel_parking.hpp" #include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/utilities.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/utils/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp similarity index 98% rename from planning/behavior_path_planner/src/scene_module/utils/occupancy_grid_based_collision_detector.cpp rename to planning/behavior_path_planner/src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp index 275c10c1e48ec..527e738ef41f1 100644 --- a/planning/behavior_path_planner/src/scene_module/utils/occupancy_grid_based_collision_detector.cpp +++ b/planning/behavior_path_planner/src/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/scene_module/utils/occupancy_grid_based_collision_detector.hpp" +#include "behavior_path_planner/util/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include #include diff --git a/planning/behavior_path_planner/src/scene_module/utils/path_shifter.cpp b/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp similarity index 99% rename from planning/behavior_path_planner/src/scene_module/utils/path_shifter.cpp rename to planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp index efd20453c6c57..aa90563f16a33 100644 --- a/planning/behavior_path_planner/src/scene_module/utils/path_shifter.cpp +++ b/planning/behavior_path_planner/src/util/path_shifter/path_shifter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_planner/scene_module/utils/path_shifter.hpp" +#include "behavior_path_planner/util/path_shifter/path_shifter.hpp" #include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/utilities.hpp"