feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

Author: mitsudome-r

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

@@ -15,6 +15,8 @@
 #ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
 #define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
 
+#include <autoware_utils/geometry/boost_geometry.hpp>
+
 #include <boost/geometry/core/cs.hpp>
 #include <boost/geometry/geometries/geometries.hpp>
 #include <boost/geometry/geometries/register/point.hpp>
@@ -28,7 +30,7 @@
 namespace autoware::universe_utils
 {
 // 2D
-struct Point2d;
+using Point2d = autoware_utils::Point2d;
 using Segment2d = boost::geometry::model::segment<Point2d>;
 using Box2d = boost::geometry::model::box<Point2d>;
 using LineString2d = boost::geometry::model::linestring<Point2d>;
@@ -40,7 +42,7 @@ using MultiLineString2d = boost::geometry::model::multi_linestring<LineString2d>
 using MultiPolygon2d = boost::geometry::model::multi_polygon<Polygon2d>;
 
 // 3D
-struct Point3d;
+using Point3d = autoware_utils::Point3d;
 using Segment3d = boost::geometry::model::segment<Point3d>;
 using Box3d = boost::geometry::model::box<Point3d>;
 using LineString3d = boost::geometry::model::linestring<Point3d>;
@@ -50,32 +52,6 @@ using MultiPoint3d = boost::geometry::model::multi_point<Point3d>;
 using MultiLineString3d = boost::geometry::model::multi_linestring<LineString3d>;
 using MultiPolygon3d = boost::geometry::model::multi_polygon<Polygon3d>;
 
-struct Point2d : public Eigen::Vector2d
-{
-  Point2d() = default;
-  Point2d(const double x, const double y) : Eigen::Vector2d(x, y) {}
-
-  [[nodiscard]] Point3d to_3d(const double z = 0.0) const;
-};
-
-struct Point3d : public Eigen::Vector3d
-{
-  Point3d() = default;
-  Point3d(const double x, const double y, const double z) : Eigen::Vector3d(x, y, z) {}
-
-  [[nodiscard]] Point2d to_2d() const;
-};
-
-inline Point3d Point2d::to_3d(const double z) const
-{
-  return Point3d{x(), y(), z};
-}
-
-inline Point2d Point3d::to_2d() const
-{
-  return Point2d{x(), y()};
-}
-
 inline geometry_msgs::msg::Point toMsg(const Point3d & point)
 {
   geometry_msgs::msg::Point msg;
@@ -95,10 +71,4 @@ inline Point3d fromMsg(const geometry_msgs::msg::Point & msg)
 }
 }  // namespace autoware::universe_utils
 
-BOOST_GEOMETRY_REGISTER_POINT_2D(                                           // NOLINT
-  autoware::universe_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT
-BOOST_GEOMETRY_REGISTER_POINT_3D(                                           // NOLINT
-  autoware::universe_utils::Point3d, double, cs::cartesian, x(), y(), z())  // NOLINT
-BOOST_GEOMETRY_REGISTER_RING(autoware::universe_utils::LinearRing2d)        // NOLINT
-
 #endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_

common/autoware_universe_utils/package.xml

@@ -17,6 +17,7 @@
   <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>

common/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_VEHICLE_INFO_UTILS__VEHICLE_INFO_HPP_
 #define AUTOWARE_VEHICLE_INFO_UTILS__VEHICLE_INFO_HPP_
 
-#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include <autoware_utils/geometry/boost_geometry.hpp>
 
 namespace autoware::vehicle_info_utils
 {
@@ -58,15 +58,15 @@ struct VehicleInfo
    * polygon
    * @param margin the longitudinal and lateral inflation margin
    */
-  autoware::universe_utils::LinearRing2d createFootprint(const double margin = 0.0) const;
+  autoware_utils::LinearRing2d createFootprint(const double margin = 0.0) const;
 
   /**
    * @brief calculate the vehicle footprint in clockwise manner starting from the front-left edge,
    * through front-right edge, center-right point, to front-left edge again to form a enclosed
    * polygon
    * @param margin the longitudinal and lateral inflation margin
    */
-  autoware::universe_utils::LinearRing2d createFootprint(
+  autoware_utils::LinearRing2d createFootprint(
     const double lat_margin, const double lon_margin) const;
 
   double calcMaxCurvature() const;

common/autoware_vehicle_info_utils/package.xml

@@ -17,7 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>rclcpp</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

common/autoware_vehicle_info_utils/src/vehicle_info.cpp

@@ -20,16 +20,16 @@
 
 namespace autoware::vehicle_info_utils
 {
-autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const
+autoware_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const
 {
   return createFootprint(margin, margin);
 }
 
-autoware::universe_utils::LinearRing2d VehicleInfo::createFootprint(
+autoware_utils::LinearRing2d VehicleInfo::createFootprint(
   const double lat_margin, const double lon_margin) const
 {
-  using autoware::universe_utils::LinearRing2d;
-  using autoware::universe_utils::Point2d;
+  using autoware_utils::LinearRing2d;
+  using autoware_utils::Point2d;
 
   const double x_front = front_overhang_m + wheel_base_m + lon_margin;
   const double x_center = wheel_base_m / 2.0;

control/autoware_collision_detector/package.xml

@@ -20,6 +20,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>diagnostic_msgs</depend>

control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp

@@ -557,8 +557,8 @@ visualization_msgs::msg::MarkerArray LaneDepartureCheckerNode::createMarkerArray
         const auto p1 = vehicle_footprint.at(i);
         const auto p2 = vehicle_footprint.at(i + 1);
 
-        marker.points.push_back(toMsg(p1.to_3d(base_link_z)));
-        marker.points.push_back(toMsg(p2.to_3d(base_link_z)));
+        marker.points.push_back(autoware::universe_utils::toMsg(p1.to_3d(base_link_z)));
+        marker.points.push_back(autoware::universe_utils::toMsg(p2.to_3d(base_link_z)));
       }
     }
 

control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp

@@ -143,8 +143,8 @@ std::vector<LinearRing2d> createVehicleFootprints(
   // Create vehicle footprint on each TrajectoryPoint
   std::vector<LinearRing2d> vehicle_footprints;
   for (const auto & p : trajectory) {
-    vehicle_footprints.push_back(
-      transformVector(local_vehicle_footprint, autoware::universe_utils::pose2transform(p.pose)));
+    vehicle_footprints.push_back(autoware::universe_utils::transformVector(
+      local_vehicle_footprint, autoware::universe_utils::pose2transform(p.pose)));
   }
 
   return vehicle_footprints;
@@ -160,7 +160,7 @@ std::vector<LinearRing2d> createVehicleFootprints(
   // Create vehicle footprint on each Path point
   std::vector<LinearRing2d> vehicle_footprints;
   for (const auto & p : path.points) {
-    vehicle_footprints.push_back(transformVector(
+    vehicle_footprints.push_back(autoware::universe_utils::transformVector(
       local_vehicle_footprint, autoware::universe_utils::pose2transform(p.point.pose)));
   }
 

control/autoware_obstacle_collision_checker/include/autoware/obstacle_collision_checker/obstacle_collision_checker.hpp

@@ -15,6 +15,7 @@
 #ifndef AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_
 #define AUTOWARE__OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>

control/autoware_obstacle_collision_checker/src/debug.cpp

@@ -76,8 +76,8 @@ visualization_msgs::msg::MarkerArray create_marker_array(
         const auto & p1 = vehicle_footprint.at(i);
         const auto & p2 = vehicle_footprint.at(i + 1);
 
-        marker.points.push_back(toMsg(p1.to_3d(base_link_z)));
-        marker.points.push_back(toMsg(p2.to_3d(base_link_z)));
+        marker.points.push_back(autoware::universe_utils::toMsg(p1.to_3d(base_link_z)));
+        marker.points.push_back(autoware::universe_utils::toMsg(p2.to_3d(base_link_z)));
       }
     }
 

evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp

@@ -20,6 +20,7 @@
 #include "autoware/universe_utils/math/accumulator.hpp"
 
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>

evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp

@@ -176,8 +176,8 @@ void ControlEvaluatorNode::AddBoundaryDistanceMetricMsg(
   lanelet::ConstLanelet current_lane;
   lanelet::utils::query::getClosestLanelet(current_lanelets, ego_pose, &current_lane);
   const auto local_vehicle_footprint = vehicle_info_.createFootprint();
-  const auto current_vehicle_footprint =
-    transformVector(local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose));
+  const auto current_vehicle_footprint = autoware::universe_utils::transformVector(
+    local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose));
 
   if (behavior_path.left_bound.size() >= 1) {
     LineString2d left_boundary;

evaluator/autoware_perception_online_evaluator/include/autoware/perception_online_evaluator/utils/marker_utils.hpp

@@ -15,6 +15,7 @@
 #ifndef AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
 #define AUTOWARE__PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"

evaluator/autoware_perception_online_evaluator/src/utils/marker_utils.cpp

@@ -14,9 +14,9 @@
 
 #include "autoware/perception_online_evaluator/utils/marker_utils.hpp"
 
-#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
-
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware/universe_utils/ros/uuid_helper.hpp>
 

planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.cpp

@@ -259,8 +259,8 @@ bool DefaultPlanner::is_goal_valid(
   }
 
   const auto local_vehicle_footprint = vehicle_info_.createFootprint();
-  autoware::universe_utils::LinearRing2d goal_footprint =
-    transformVector(local_vehicle_footprint, autoware::universe_utils::pose2transform(goal));
+  autoware::universe_utils::LinearRing2d goal_footprint = autoware::universe_utils::transformVector(
+    local_vehicle_footprint, autoware::universe_utils::pose2transform(goal));
   pub_goal_footprint_marker_->publish(visualize_debug_footprint(goal_footprint));
   const auto polygon_footprint = convert_linear_ring_to_polygon(goal_footprint);
 

planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.hpp

@@ -17,6 +17,7 @@
 
 #include <autoware/mission_planner_universe/mission_planner_plugin.hpp>
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp

@@ -17,6 +17,8 @@
 
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+
 #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "autoware_perception_msgs/msg/predicted_object.hpp"

planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp

@@ -223,8 +223,8 @@ GoalCandidates GoalSearcher::search(
     for (double dy = 0; dy <= max_lateral_offset; dy += lateral_offset_interval) {
       search_pose = calcOffsetPose(original_search_pose, 0, sign * dy, 0);
 
-      const auto transformed_vehicle_footprint =
-        transformVector(vehicle_footprint_, autoware::universe_utils::pose2transform(search_pose));
+      const auto transformed_vehicle_footprint = autoware::universe_utils::transformVector(
+        vehicle_footprint_, autoware::universe_utils::pose2transform(search_pose));
 
       if (
         parameters_.bus_stop_area.use_bus_stop_area &&
@@ -324,8 +324,8 @@ void GoalSearcher::countObjectsToAvoid(
   // count number of objects to avoid
   for (const auto & object : objects.objects) {
     for (const auto & p : current_center_line_path.points) {
-      const auto transformed_vehicle_footprint =
-        transformVector(vehicle_footprint_, autoware::universe_utils::pose2transform(p.point.pose));
+      const auto transformed_vehicle_footprint = autoware::universe_utils::transformVector(
+        vehicle_footprint_, autoware::universe_utils::pose2transform(p.point.pose));
       const auto obj_polygon = autoware::universe_utils::toPolygon2d(object);
       const double distance = boost::geometry::distance(obj_polygon, transformed_vehicle_footprint);
       if (distance > parameters_.object_recognition_collision_check_hard_margins.back()) {

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp

@@ -118,8 +118,8 @@ bool checkCollisionBetweenFootprintAndObjects(
   const autoware::universe_utils::LinearRing2d & local_vehicle_footprint, const Pose & ego_pose,
   const PredictedObjects & dynamic_objects, const double margin)
 {
-  const auto vehicle_footprint =
-    transformVector(local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose));
+  const auto vehicle_footprint = autoware::universe_utils::transformVector(
+    local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose));
 
   for (const auto & object : dynamic_objects.objects) {
     const auto obj_polygon = autoware::universe_utils::toPolygon2d(object);

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -457,8 +457,8 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough(const Pose &
       geometry_msgs::msg::Pose & ego_overhang_point_as_pose,
       const bool ego_is_merging_from_the_left) -> std::optional<std::pair<double, double>> {
     const auto local_vehicle_footprint = vehicle_info_.createFootprint();
-    const auto vehicle_footprint =
-      transformVector(local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose));
+    const auto vehicle_footprint = autoware::universe_utils::transformVector(
+      local_vehicle_footprint, autoware::universe_utils::pose2transform(ego_pose));
     double smallest_lateral_gap_between_ego_and_border = std::numeric_limits<double>::max();
     double corresponding_lateral_gap_with_other_lane_bound = std::numeric_limits<double>::max();