feat: apply splitting of autoware_utils_geometry (#10270)

* fix build error

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* merge namespace

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp

@@ -36,14 +36,19 @@
 #include <string>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
+
 template <>
 geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p);
 
 template <>
 geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p);
-}  // namespace autoware_utils
+
+template <>
+double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p);
+
+}  // namespace autoware_utils_geometry
 
 namespace autoware::path_optimizer
 {

planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp

@@ -21,6 +21,7 @@
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 #include "autoware/path_optimizer/common_structs.hpp"
 #include "autoware/path_optimizer/type_alias.hpp"
+#include "autoware/path_optimizer/utils/geometry_utils.hpp"
 #include "autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
@@ -36,18 +37,6 @@
 #include <string>
 #include <vector>
 
-namespace autoware_utils
-{
-template <>
-geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p);
-
-template <>
-geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p);
-
-template <>
-double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p);
-}  // namespace autoware_utils
-
 namespace autoware::path_optimizer
 {
 namespace trajectory_utils
@@ -107,13 +96,7 @@ TrajectoryPoint convertToTrajectoryPoint(const T & point)
 }
 
 template <>
-inline TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point)
-{
-  TrajectoryPoint traj_point;
-  traj_point.pose = autoware_utils::get_pose(ref_point);
-  traj_point.longitudinal_velocity_mps = autoware_utils::get_longitudinal_velocity(ref_point);
-  return traj_point;
-}
+TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point);
 
 template <typename T>
 std::vector<TrajectoryPoint> convertToTrajectoryPoints(const std::vector<T> & points)

planning/autoware_path_optimizer/src/utils/geometry_utils.cpp

@@ -36,6 +36,29 @@
 #include <stack>
 #include <vector>
 
+namespace autoware_utils_geometry
+{
+
+template <>
+geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p)
+{
+  return p.pose.position;
+}
+
+template <>
+geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p)
+{
+  return p.pose;
+}
+
+template <>
+double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p)
+{
+  return p.longitudinal_velocity_mps;
+}
+
+}  // namespace autoware_utils_geometry
+
 namespace autoware::path_optimizer
 {
 namespace bg = boost::geometry;

planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp

@@ -33,31 +33,21 @@
 #include <stack>
 #include <vector>
 
-namespace autoware_utils
-{
-template <>
-geometry_msgs::msg::Point get_point(const autoware::path_optimizer::ReferencePoint & p)
+namespace autoware::path_optimizer
 {
-  return p.pose.position;
-}
 
-template <>
-geometry_msgs::msg::Pose get_pose(const autoware::path_optimizer::ReferencePoint & p)
+namespace trajectory_utils
 {
-  return p.pose;
-}
 
 template <>
-double get_longitudinal_velocity(const autoware::path_optimizer::ReferencePoint & p)
+TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point)
 {
-  return p.longitudinal_velocity_mps;
+  TrajectoryPoint traj_point;
+  traj_point.pose = autoware_utils::get_pose(ref_point);
+  traj_point.longitudinal_velocity_mps = autoware_utils::get_longitudinal_velocity(ref_point);
+  return traj_point;
 }
-}  // namespace autoware_utils
 
-namespace autoware::path_optimizer
-{
-namespace trajectory_utils
-{
 ReferencePoint convertToReferencePoint(const TrajectoryPoint & traj_point)
 {
   ReferencePoint ref_point;

planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp

@@ -39,7 +39,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 
 template <>
@@ -52,7 +52,7 @@ inline geometry_msgs::msg::Point get_point(const lanelet::ConstPoint3d & p)
   return point;
 }
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 namespace
 {