From bd4be72d64d31ebce2a5cbfeceb2c653ba0a793d Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Mon, 17 Jun 2024 16:39:09 +0900
Subject: [PATCH] feat(obstacle_cruise_planner): remove include directory

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../common_structs.hpp                             |  8 ++++----
 .../autoware_obstacle_cruise_planner/src/node.cpp  |  8 +++++---
 .../node.hpp                                       | 14 +++++++-------
 .../optimization_based_planner.cpp                 |  7 +++++--
 .../optimization_based_planner.hpp                 | 14 +++++++-------
 .../optimization_based_planner/s_boundary.hpp      |  6 +++---
 .../velocity_optimizer.cpp                         |  3 ++-
 .../velocity_optimizer.hpp                         |  8 ++++----
 .../cruise_planning_debug_info.hpp                 |  6 +++---
 .../src/pid_based_planner/pid_based_planner.cpp    |  6 ++++--
 .../pid_based_planner/pid_based_planner.hpp        | 12 ++++++------
 .../pid_based_planner/pid_controller.hpp           |  6 +++---
 .../src/planner_interface.cpp                      |  2 +-
 .../planner_interface.hpp                          | 14 +++++++-------
 .../src/polygon_utils.cpp                          |  4 +++-
 .../polygon_utils.hpp                              | 10 +++++-----
 .../stop_planning_debug_info.hpp                   |  6 +++---
 .../type_alias.hpp                                 |  6 +++---
 .../autoware_obstacle_cruise_planner/src/utils.cpp |  2 +-
 .../utils.hpp                                      |  8 ++++----
 ...test_obstacle_cruise_planner_node_interface.cpp |  2 +-
 21 files changed, 81 insertions(+), 71 deletions(-)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/common_structs.hpp (97%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/node.hpp (96%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/optimization_based_planner/optimization_based_planner.hpp (87%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/optimization_based_planner/s_boundary.hpp (78%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/optimization_based_planner/velocity_optimizer.hpp (83%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/pid_based_planner/cruise_planning_debug_info.hpp (90%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/pid_based_planner/pid_based_planner.hpp (90%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/pid_based_planner/pid_controller.hpp (85%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/planner_interface.hpp (97%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/polygon_utils.hpp (86%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/stop_planning_debug_info.hpp (91%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/type_alias.hpp (94%)
 rename planning/autoware_obstacle_cruise_planner/{include/autoware_obstacle_cruise_planner => src}/utils.hpp (92%)

diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/src/common_structs.hpp
similarity index 97%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp
rename to planning/autoware_obstacle_cruise_planner/src/common_structs.hpp
index 9b5c277589e67..136034c658add 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/common_structs.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#ifndef COMMON_STRUCTS_HPP_
+#define COMMON_STRUCTS_HPP_
 
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/ros/uuid_helper.hpp"
+#include "type_alias.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -302,4 +302,4 @@ struct EgoNearestParam
   double yaw_threshold;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#endif  // COMMON_STRUCTS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp
index 18ea1243d9101..190dcf93b6108 100644
--- a/planning/autoware_obstacle_cruise_planner/src/node.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp
@@ -12,21 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/node.hpp"
+#include "node.hpp"
 
-#include "autoware_obstacle_cruise_planner/polygon_utils.hpp"
-#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
+#include "polygon_utils.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
+#include "utils.hpp"
 
 #include <boost/format.hpp>
 
 #include <algorithm>
 #include <chrono>
+#include <limits>
+#include <utility>
 
 namespace
 {
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/src/node.hpp
similarity index 96%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp
rename to planning/autoware_obstacle_cruise_planner/src/node.hpp
index dcea7e1dc257b..17865e603dd27 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/node.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#ifndef NODE_HPP_
+#define NODE_HPP_
 
-#include "autoware_obstacle_cruise_planner/common_structs.hpp"
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
-#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
+#include "common_structs.hpp"
+#include "optimization_based_planner/optimization_based_planner.hpp"
+#include "pid_based_planner/pid_based_planner.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "type_alias.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -280,4 +280,4 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
 };
 }  // namespace autoware::motion_planning
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#endif  // NODE_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
index c7172435a6f24..c1b2395055a37 100644
--- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
@@ -12,9 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
+#include "optimization_based_planner/optimization_based_planner.hpp"
 
-#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/zero_order_hold.hpp"
@@ -24,6 +23,7 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "utils.hpp"
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -33,6 +33,9 @@
 
 #include <tf2/utils.h>
 
+#include <algorithm>
+#include <limits>
+
 constexpr double ZERO_VEL_THRESHOLD = 0.01;
 constexpr double CLOSE_S_DIST_THRESHOLD = 1e-3;
 
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.hpp
similarity index 87%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
rename to planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.hpp
index db807608caca4..c84f4ba894b13 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#ifndef OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#define OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
-#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
+#include "optimization_based_planner/s_boundary.hpp"
+#include "optimization_based_planner/velocity_optimizer.hpp"
+#include "planner_interface.hpp"
+#include "type_alias.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -118,5 +118,5 @@ class OptimizationBasedPlanner : public PlannerInterface
   double stop_dist_to_prohibit_engage_;
 };
 // clang-format off
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#endif  // OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
 // clang-format on
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/s_boundary.hpp
similarity index 78%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
rename to planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/s_boundary.hpp
index d033e4e35aef0..0c17d13adf5ee 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/s_boundary.hpp
@@ -11,8 +11,8 @@
 // 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 AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#ifndef OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#define OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
 
 #include <limits>
 #include <vector>
@@ -30,4 +30,4 @@ class SBoundary
 
 using SBoundaries = std::vector<SBoundary>;
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#endif  // OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
index 695db439e566c..43fccb7438c43 100644
--- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
+#include "optimization_based_planner/velocity_optimizer.hpp"
 
 #include <Eigen/Core>
 
+#include <algorithm>
 #include <iostream>
 
 VelocityOptimizer::VelocityOptimizer(
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.hpp
similarity index 83%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
rename to planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.hpp
index 49cf96ce81e0b..ca350d1e64271 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.hpp
@@ -11,10 +11,10 @@
 // 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 AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#ifndef OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#define OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
+#include "optimization_based_planner/s_boundary.hpp"
 #include "osqp_interface/osqp_interface.hpp"
 
 #include <vector>
@@ -72,4 +72,4 @@ class VelocityOptimizer
   autoware::common::osqp::OSQPInterface qp_solver_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#endif  // OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/cruise_planning_debug_info.hpp
similarity index 90%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
rename to planning/autoware_obstacle_cruise_planner/src/pid_based_planner/cruise_planning_debug_info.hpp
index 98679b5cbb515..5b2a7c5bf767d 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/cruise_planning_debug_info.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#ifndef PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#define PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -94,4 +94,4 @@ class CruisePlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#endif  // PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
index 5156c61038122..cd76cc74c3db6 100644
--- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -12,17 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
+#include "pid_based_planner/pid_based_planner.hpp"
 
-#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
+#include "utils.hpp"
 
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"
 
+#include <algorithm>
+#include <string>
 namespace
 {
 VelocityLimit createVelocityLimitMsg(
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.hpp
similarity index 90%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
rename to planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.hpp
index 5fac88e909764..7e3f49e2ca65c 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#ifndef PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#define PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
 
-#include "autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
-#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
-#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
+#include "pid_based_planner/cruise_planning_debug_info.hpp"
+#include "pid_based_planner/pid_controller.hpp"
+#include "planner_interface.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 
 #include "visualization_msgs/msg/marker_array.hpp"
@@ -137,4 +137,4 @@ class PIDBasedPlanner : public PlannerInterface
   std::function<double(double)> error_func_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#endif  // PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_controller.hpp
similarity index 85%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
rename to planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_controller.hpp
index f8f7a483df2a1..0ca1f6b9d4f92 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_controller.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#ifndef PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#define PID_BASED_PLANNER__PID_CONTROLLER_HPP_
 
 #include <optional>
 
@@ -59,4 +59,4 @@ class PIDController
   std::optional<double> prev_error_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#endif  // PID_BASED_PLANNER__PID_CONTROLLER_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
index f3b5af842acdb..708988186326b 100644
--- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
+#include "planner_interface.hpp"
 
 #include "motion_utils/distance/distance.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.hpp
similarity index 97%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp
rename to planning/autoware_obstacle_cruise_planner/src/planner_interface.hpp
index 2685b3d061ff1..80e2084e19c19 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#ifndef PLANNER_INTERFACE_HPP_
+#define PLANNER_INTERFACE_HPP_
 
-#include "autoware_obstacle_cruise_planner/common_structs.hpp"
-#include "autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
-#include "autoware_obstacle_cruise_planner/utils.hpp"
+#include "common_structs.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
+#include "stop_planning_debug_info.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "type_alias.hpp"
+#include "utils.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -425,4 +425,4 @@ class PlannerInterface
     std::nullopt};
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#endif  // PLANNER_INTERFACE_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
index e5f53d1b88c0b..3ec70d9a596ce 100644
--- a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/polygon_utils.hpp"
+#include "polygon_utils.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
+#include <algorithm>
+
 namespace
 {
 PointWithStamp calcNearestCollisionPoint(
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.hpp
similarity index 86%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp
rename to planning/autoware_obstacle_cruise_planner/src/polygon_utils.hpp
index 621e4decbbf1e..b3857fbb6e6b0 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#ifndef POLYGON_UTILS_HPP_
+#define POLYGON_UTILS_HPP_
 
-#include "autoware_obstacle_cruise_planner/common_structs.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
+#include "common_structs.hpp"
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "type_alias.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -52,4 +52,4 @@ std::vector<PointWithStamp> getCollisionPoints(
 
 }  // namespace polygon_utils
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#endif  // POLYGON_UTILS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp b/planning/autoware_obstacle_cruise_planner/src/stop_planning_debug_info.hpp
similarity index 91%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp
rename to planning/autoware_obstacle_cruise_planner/src/stop_planning_debug_info.hpp
index 7167ddbdf6ad1..633858ea16eb7 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/stop_planning_debug_info.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#ifndef STOP_PLANNING_DEBUG_INFO_HPP_
+#define STOP_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -85,4 +85,4 @@ class StopPlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#endif  // STOP_PLANNING_DEBUG_INFO_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/src/type_alias.hpp
similarity index 94%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp
rename to planning/autoware_obstacle_cruise_planner/src/type_alias.hpp
index 7b435acb5f13e..024145e4988c5 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/type_alias.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#ifndef TYPE_ALIAS_HPP_
+#define TYPE_ALIAS_HPP_
 
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
@@ -63,4 +63,4 @@ namespace bg = boost::geometry;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#endif  // TYPE_ALIAS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
index cb36f35b8e837..89e4e7ab2ff7b 100644
--- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/utils.hpp"
+#include "utils.hpp"
 
 #include "object_recognition_utils/predicted_path_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/utils.hpp b/planning/autoware_obstacle_cruise_planner/src/utils.hpp
similarity index 92%
rename from planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/utils.hpp
rename to planning/autoware_obstacle_cruise_planner/src/utils.hpp
index 3b8093aea76a1..61e2e7ae54888 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/utils.hpp
+++ b/planning/autoware_obstacle_cruise_planner/src/utils.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
+#ifndef UTILS_HPP_
+#define UTILS_HPP_
 
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "common_structs.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "type_alias.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -95,4 +95,4 @@ size_t getIndexWithLongitudinalOffset(
 }
 }  // namespace obstacle_cruise_utils
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
+#endif  // UTILS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index b28afba8b4895..b1f5cf2b6935d 100644
--- a/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/autoware_obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/node.hpp"
+#include "node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>