fix function name and comments

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp

@@ -584,7 +584,7 @@ std::optional<geometry_msgs::msg::Point> intersect(
  * @brief Check if 2 convex polygons intersect using the GJK algorithm
  * @details much faster than boost::geometry::intersects()
  */
-bool intersect(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
+bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
 
 }  // namespace autoware::universe_utils
 

common/autoware_universe_utils/include/autoware/universe_utils/geometry/gjk_2d.hpp

@@ -31,9 +31,9 @@ Point2d cross_product(const Point2d & p1, const Point2d & p2, const Point2d & p3
 }  // namespace
 /**
  * @brief Check if 2 convex polygons intersect using the GJK algorithm
- * @details much faster than boost::geometry::intersects()
+ * @details much faster than boost::geometry::overlaps() but limited to convex polygons
  */
-bool intersect(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
+bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
 }  // namespace autoware::universe_utils::gjk
 
 #endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GJK_2D_HPP_

common/autoware_universe_utils/src/geometry/geometry.cpp

@@ -385,9 +385,9 @@ std::optional<geometry_msgs::msg::Point> intersect(
   return intersect_point;
 }
 
-bool intersect(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2)
+bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2)
 {
-  return gjk::intersect(convex_polygon1, convex_polygon2);
+  return gjk::intersects(convex_polygon1, convex_polygon2);
 }
 
 }  // namespace autoware::universe_utils

common/autoware_universe_utils/src/geometry/gjk_2d.cpp

@@ -31,7 +31,6 @@ double dot_product(const Point2d & p1, const Point2d & p2)
   return p1.x() * p2.x() + p1.y() * p2.y();
 }
 
-/// @brief return the polygon polygon that is the furthest away from a direction vector
 size_t furthest_vertex_idx(const Polygon2d & poly, const Point2d & direction)
 {
   auto furthest_distance = std::numeric_limits<double>::lowest();
@@ -67,11 +66,8 @@ Point2d cross_product(const Point2d & p1, const Point2d & p2, const Point2d & p3
   return Point2d(-p3.y() * tmp, p3.x() * tmp);
 }
 }  // namespace
-/**
- * @brief Check if 2 convex polygons intersect using the GJK algorithm
- * @details much faster than boost::geometry::intersects()
- */
-bool intersect(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2)
+
+bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2)
 {
   if (convex_polygon1.outer().empty() || convex_polygon2.outer().empty()) {
     return false;

common/autoware_universe_utils/test/src/geometry/test_geometry.cpp

@@ -14,7 +14,6 @@
 
 #include "autoware/universe_utils/geometry/boost_geometry.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware/universe_utils/geometry/gjk_2d.hpp"
 #include "autoware/universe_utils/geometry/random_convex_polygon.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
@@ -1850,7 +1849,7 @@ TEST(geometry, intersectPolygon)
     poly2.outer().emplace_back(0, 1);
     boost::geometry::correct(poly1);
     boost::geometry::correct(poly2);
-    EXPECT_TRUE(autoware::universe_utils::intersect(poly1, poly2));
+    EXPECT_TRUE(autoware::universe_utils::intersects(poly1, poly2));
   }
   {  // 2 triangles with no intersection (but they share an edge)
     autoware::universe_utils::Polygon2d poly1, poly2;
@@ -1862,7 +1861,7 @@ TEST(geometry, intersectPolygon)
     poly2.outer().emplace_back(2, 2);
     boost::geometry::correct(poly1);
     boost::geometry::correct(poly2);
-    EXPECT_FALSE(autoware::universe_utils::intersect(poly1, poly2));
+    EXPECT_FALSE(autoware::universe_utils::intersects(poly1, poly2));
   }
   {  // 2 triangles with no intersection (but they share a point)
     autoware::universe_utils::Polygon2d poly1, poly2;
@@ -1874,7 +1873,7 @@ TEST(geometry, intersectPolygon)
     poly2.outer().emplace_back(2, 2);
     boost::geometry::correct(poly1);
     boost::geometry::correct(poly2);
-    EXPECT_FALSE(autoware::universe_utils::intersect(poly1, poly2));
+    EXPECT_FALSE(autoware::universe_utils::intersects(poly1, poly2));
   }
   {  // 2 triangles with no intersection and no touching
     autoware::universe_utils::Polygon2d poly1, poly2;
@@ -1886,7 +1885,7 @@ TEST(geometry, intersectPolygon)
     poly2.outer().emplace_back(3, 5);
     boost::geometry::correct(poly1);
     boost::geometry::correct(poly2);
-    EXPECT_FALSE(autoware::universe_utils::intersect(poly1, poly2));
+    EXPECT_FALSE(autoware::universe_utils::intersects(poly1, poly2));
   }
   {  // triangle and quadrilateral with intersection
     autoware::universe_utils::Polygon2d poly1, poly2;
@@ -1899,7 +1898,7 @@ TEST(geometry, intersectPolygon)
     poly2.outer().emplace_back(12, 7);
     boost::geometry::correct(poly1);
     boost::geometry::correct(poly2);
-    EXPECT_TRUE(autoware::universe_utils::intersect(poly1, poly2));
+    EXPECT_TRUE(autoware::universe_utils::intersects(poly1, poly2));
   }
 }
 
@@ -1922,7 +1921,7 @@ TEST(geometry, intersectPolygonRand)
       const auto ground_truth = boost::geometry::intersects(polygons[i], polygons[j]);
       ground_truth_ns += sw.toc();
       sw.tic();
-      const auto gjk = autoware::universe_utils::gjk::intersect(polygons[i], polygons[j]);
+      const auto gjk = autoware::universe_utils::intersects(polygons[i], polygons[j]);
       gjk_ns += sw.toc();
       if (ground_truth != gjk) {
         std::cout << "Failed for the 2 polygons: ";