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feat: replace autoware_universe_utils with autoware_utils in common folder
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
1 parent a0cdda4 commit 6c13b29

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20 files changed

+74
-74
lines changed

20 files changed

+74
-74
lines changed

‎common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
1515
#ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
1616
#define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
1717

18-
#include <autoware/universe_utils/geometry/pose_deviation.hpp>
18+
#include <autoware_utils/geometry/pose_deviation.hpp>
1919
#include <rclcpp/rclcpp.hpp>
2020

2121
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
2525

2626
namespace autoware::goal_distance_calculator
2727
{
28-
using autoware::universe_utils::PoseDeviation;
28+
using autoware_utils::PoseDeviation;
2929

3030
struct Param
3131
{

‎common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -17,9 +17,9 @@
1717

1818
#include "autoware/goal_distance_calculator/goal_distance_calculator.hpp"
1919

20-
#include <autoware/universe_utils/ros/debug_publisher.hpp>
21-
#include <autoware/universe_utils/ros/polling_subscriber.hpp>
22-
#include <autoware/universe_utils/ros/self_pose_listener.hpp>
20+
#include <autoware_utils/ros/debug_publisher.hpp>
21+
#include <autoware_utils/ros/polling_subscriber.hpp>
22+
#include <autoware_utils/ros/self_pose_listener.hpp>
2323
#include <rclcpp/rclcpp.hpp>
2424

2525
#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
@@ -45,12 +45,12 @@ class GoalDistanceCalculatorNode : public rclcpp::Node
4545

4646
private:
4747
// Subscriber
48-
autoware::universe_utils::SelfPoseListener self_pose_listener_;
49-
autoware::universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
48+
autoware_utils::SelfPoseListener self_pose_listener_;
49+
autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
5050
sub_route_{this, "/planning/mission_planning/route"};
5151

5252
// Publisher
53-
autoware::universe_utils::DebugPublisher debug_publisher_;
53+
autoware_utils::DebugPublisher debug_publisher_;
5454

5555
// Timer
5656
rclcpp::TimerBase::SharedPtr timer_;

‎common/autoware_goal_distance_calculator/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212

1313
<depend>autoware_internal_debug_msgs</depend>
1414
<depend>autoware_planning_msgs</depend>
15-
<depend>autoware_universe_utils</depend>
15+
<depend>autoware_utils</depend>
1616
<depend>geometry_msgs</depend>
1717
<depend>rclcpp</depend>
1818
<depend>rclcpp_components</depend>

‎common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ Output GoalDistanceCalculator::update(const Input & input)
2121
Output output{};
2222

2323
output.goal_deviation =
24-
autoware::universe_utils::calcPoseDeviation(input.route->goal_pose, input.current_pose->pose);
24+
autoware_utils::calc_pose_deviation(input.route->goal_pose, input.current_pose->pose);
2525

2626
return output;
2727
}

‎common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp

+5-5
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@
1414

1515
#include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp"
1616

17-
#include <autoware/universe_utils/math/unit_conversion.hpp>
17+
#include <autoware_utils/math/unit_conversion.hpp>
1818
#include <rclcpp/rclcpp.hpp>
1919
#include <rclcpp/timer.hpp>
2020

@@ -42,7 +42,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
4242
goal_distance_calculator_->setParam(param_);
4343

4444
// Wait for first self pose
45-
self_pose_listener_.waitForFirstPose();
45+
self_pose_listener_.wait_for_first_pose();
4646

4747
// Timer
4848
const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
@@ -54,7 +54,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
5454
bool GoalDistanceCalculatorNode::tryGetCurrentPose(
5555
geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose)
5656
{
57-
auto current_pose_tmp = self_pose_listener_.getCurrentPose();
57+
auto current_pose_tmp = self_pose_listener_.get_current_pose();
5858
if (!current_pose_tmp) return false;
5959
current_pose = current_pose_tmp;
6060
return true;
@@ -63,7 +63,7 @@ bool GoalDistanceCalculatorNode::tryGetCurrentPose(
6363
bool GoalDistanceCalculatorNode::tryGetRoute(
6464
autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr route)
6565
{
66-
auto route_tmp = sub_route_.takeData();
66+
auto route_tmp = sub_route_.take_data();
6767
if (!route_tmp) return false;
6868
route = route_tmp;
6969
return true;
@@ -97,7 +97,7 @@ void GoalDistanceCalculatorNode::onTimer()
9797
Output output = goal_distance_calculator_->update(input);
9898

9999
{
100-
using autoware::universe_utils::rad2deg;
100+
using autoware_utils::rad2deg;
101101
const auto & deviation = output.goal_deviation;
102102

103103
debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(

‎common/autoware_grid_map_utils/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010
<buildtool_depend>autoware_cmake</buildtool_depend>
1111
<buildtool_depend>eigen3_cmake_module</buildtool_depend>
1212

13-
<depend>autoware_universe_utils</depend>
13+
<depend>autoware_utils</depend>
1414
<depend>grid_map_core</depend>
1515
<depend>grid_map_cv</depend>
1616
<depend>libopencv-dev</depend>

‎common/autoware_grid_map_utils/test/benchmark.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@
1717
#include "grid_map_cv/GridMapCvConverter.hpp"
1818
#include "grid_map_cv/GridMapCvProcessing.hpp"
1919

20-
#include <autoware/universe_utils/system/stop_watch.hpp>
20+
#include <autoware_utils/system/stop_watch.hpp>
2121
#include <grid_map_core/iterators/PolygonIterator.hpp>
2222
#include <grid_map_cv/grid_map_cv.hpp>
2323
#include <opencv2/core.hpp>
@@ -46,7 +46,7 @@ int main(int argc, char * argv[])
4646
result_file
4747
<< "#Size PolygonVertices PolygonIndexes grid_map_utils_constructor grid_map_utils_iteration "
4848
"grid_map_constructor grid_map_iteration\n";
49-
autoware::universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
49+
autoware_utils::StopWatch<std::chrono::milliseconds> stopwatch;
5050

5151
constexpr auto nb_iterations = 10;
5252
constexpr auto polygon_side_vertices =

‎common/autoware_grid_map_utils/test/test_polygon_iterator.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@
1414

1515
#include "autoware/grid_map_utils/polygon_iterator.hpp"
1616

17-
#include <autoware/universe_utils/system/stop_watch.hpp>
17+
#include <autoware_utils/system/stop_watch.hpp>
1818
#include <grid_map_core/iterators/PolygonIterator.hpp>
1919

2020
// gtest

‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/matching.hpp

+12-12
Original file line numberDiff line numberDiff line change
@@ -16,8 +16,8 @@
1616
#define AUTOWARE__OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
1717

1818
#include "autoware/object_recognition_utils/geometry.hpp"
19-
#include "autoware/universe_utils/geometry/boost_geometry.hpp"
20-
#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
19+
#include "autoware_utils/geometry/boost_geometry.hpp"
20+
#include "autoware_utils/geometry/boost_polygon_utils.hpp"
2121

2222
#include <boost/geometry.hpp>
2323

@@ -28,7 +28,7 @@
2828

2929
namespace autoware::object_recognition_utils
3030
{
31-
using autoware::universe_utils::Polygon2d;
31+
using autoware_utils::Polygon2d;
3232
// minimum area to avoid division by zero
3333
static const double MIN_AREA = 1e-6;
3434

@@ -37,7 +37,7 @@ inline double getConvexShapeArea(const Polygon2d & source_polygon, const Polygon
3737
boost::geometry::model::multi_polygon<Polygon2d> union_polygons;
3838
boost::geometry::union_(source_polygon, target_polygon, union_polygons);
3939

40-
autoware::universe_utils::Polygon2d hull;
40+
autoware_utils::Polygon2d hull;
4141
boost::geometry::convex_hull(union_polygons, hull);
4242
return boost::geometry::area(hull);
4343
}
@@ -67,9 +67,9 @@ inline double getUnionArea(const Polygon2d & source_polygon, const Polygon2d & t
6767
template <class T1, class T2>
6868
double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01)
6969
{
70-
const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
70+
const auto source_polygon = autoware_utils::to_polygon2d(source_object);
7171
if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
72-
const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
72+
const auto target_polygon = autoware_utils::to_polygon2d(target_object);
7373
if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
7474

7575
const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -84,9 +84,9 @@ double get2dIoU(const T1 source_object, const T2 target_object, const double min
8484
template <class T1, class T2>
8585
double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
8686
{
87-
const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
87+
const auto source_polygon = autoware_utils::to_polygon2d(source_object);
8888
if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
89-
const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
89+
const auto target_polygon = autoware_utils::to_polygon2d(target_object);
9090
if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
9191

9292
const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -100,10 +100,10 @@ double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
100100
template <class T1, class T2>
101101
double get2dPrecision(const T1 source_object, const T2 target_object)
102102
{
103-
const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
103+
const auto source_polygon = autoware_utils::to_polygon2d(source_object);
104104
const double source_area = boost::geometry::area(source_polygon);
105105
if (source_area < MIN_AREA) return 0.0;
106-
const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
106+
const auto target_polygon = autoware_utils::to_polygon2d(target_object);
107107
if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
108108

109109
const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -115,9 +115,9 @@ double get2dPrecision(const T1 source_object, const T2 target_object)
115115
template <class T1, class T2>
116116
double get2dRecall(const T1 source_object, const T2 target_object)
117117
{
118-
const auto source_polygon = autoware::universe_utils::toPolygon2d(source_object);
118+
const auto source_polygon = autoware_utils::to_polygon2d(source_object);
119119
if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
120-
const auto target_polygon = autoware::universe_utils::toPolygon2d(target_object);
120+
const auto target_polygon = autoware_utils::to_polygon2d(target_object);
121121
const double target_area = boost::geometry::area(target_polygon);
122122
if (target_area < MIN_AREA) return 0.0;
123123

‎common/autoware_object_recognition_utils/include/autoware/object_recognition_utils/predicted_path_utils.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
1515
#ifndef AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
1616
#define AUTOWARE__OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
1717

18-
#include "autoware/universe_utils/geometry/geometry.hpp"
18+
#include "autoware_utils/geometry/geometry.hpp"
1919

2020
#include <autoware_perception_msgs/msg/predicted_path.hpp>
2121
#include <geometry_msgs/msg/pose.hpp>

‎common/autoware_object_recognition_utils/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313

1414
<depend>autoware_interpolation</depend>
1515
<depend>autoware_perception_msgs</depend>
16-
<depend>autoware_universe_utils</depend>
16+
<depend>autoware_utils</depend>
1717
<depend>geometry_msgs</depend>
1818
<depend>libboost-dev</depend>
1919
<depend>pcl_conversions</depend>

‎common/autoware_object_recognition_utils/src/predicted_path_utils.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@ boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose(
3939
if (relative_time - epsilon < time_step * path_idx) {
4040
const double offset = relative_time - time_step * (path_idx - 1);
4141
const double ratio = std::clamp(offset / time_step, 0.0, 1.0);
42-
return autoware::universe_utils::calcInterpolatedPose(prev_pt, pt, ratio, false);
42+
return autoware_utils::calc_interpolated_pose(prev_pt, pt, ratio, false);
4343
}
4444
}
4545

@@ -91,7 +91,7 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath(
9191

9292
// Set Position
9393
for (size_t i = 0; i < resampled_size; ++i) {
94-
const auto p = autoware::universe_utils::createPoint(
94+
const auto p = autoware_utils::create_point(
9595
interpolated_x.at(i), interpolated_y.at(i), interpolated_z.at(i));
9696
resampled_path.path.at(i).position = p;
9797
resampled_path.path.at(i).orientation = interpolated_quat.at(i);

‎common/autoware_object_recognition_utils/test/src/test_conversion.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313
// limitations under the License.
1414

1515
#include "autoware/object_recognition_utils/conversion.hpp"
16-
#include "autoware/universe_utils/geometry/geometry.hpp"
16+
#include "autoware_utils/geometry/geometry.hpp"
1717

1818
#include <gtest/gtest.h>
1919

‎common/autoware_object_recognition_utils/test/src/test_matching.cpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -13,14 +13,14 @@
1313
// limitations under the License.
1414

1515
#include "autoware/object_recognition_utils/matching.hpp"
16-
#include "autoware/universe_utils/geometry/geometry.hpp"
16+
#include "autoware_utils/geometry/geometry.hpp"
1717

1818
#include <autoware_perception_msgs/msg/detected_object.hpp>
1919

2020
#include <gtest/gtest.h>
2121

22-
using autoware::universe_utils::Point2d;
23-
using autoware::universe_utils::Point3d;
22+
using autoware_utils::Point2d;
23+
using autoware_utils::Point3d;
2424

2525
constexpr double epsilon = 1e-06;
2626

@@ -30,7 +30,7 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
3030
{
3131
geometry_msgs::msg::Pose p;
3232
p.position = geometry_msgs::build<geometry_msgs::msg::Point>().x(x).y(y).z(0.0);
33-
p.orientation = autoware::universe_utils::createQuaternionFromYaw(yaw);
33+
p.orientation = autoware_utils::create_quaternion_from_yaw(yaw);
3434
return p;
3535
}
3636
} // namespace

‎common/autoware_object_recognition_utils/test/src/test_predicted_path_utils.cpp

+20-20
Original file line numberDiff line numberDiff line change
@@ -13,33 +13,33 @@
1313
// limitations under the License.
1414

1515
#include "autoware/object_recognition_utils/predicted_path_utils.hpp"
16-
#include "autoware/universe_utils/geometry/geometry.hpp"
17-
#include "autoware/universe_utils/math/unit_conversion.hpp"
16+
#include "autoware_utils/geometry/geometry.hpp"
17+
#include "autoware_utils/math/unit_conversion.hpp"
1818

1919
#include <boost/optional/optional_io.hpp>
2020

2121
#include <gtest/gtest.h>
2222

2323
#include <vector>
2424

25-
using autoware::universe_utils::Point2d;
26-
using autoware::universe_utils::Point3d;
25+
using autoware_utils::Point2d;
26+
using autoware_utils::Point3d;
2727

2828
constexpr double epsilon = 1e-06;
2929

3030
namespace
3131
{
32-
using autoware::universe_utils::createPoint;
33-
using autoware::universe_utils::createQuaternionFromRPY;
34-
using autoware::universe_utils::transformPoint;
32+
using autoware_utils::create_point;
33+
using autoware_utils::create_quaternion_from_rpy;
34+
using autoware_utils::transform_point;
3535
using autoware_perception_msgs::msg::PredictedPath;
3636

3737
geometry_msgs::msg::Pose createPose(
3838
double x, double y, double z, double roll, double pitch, double yaw)
3939
{
4040
geometry_msgs::msg::Pose p;
41-
p.position = createPoint(x, y, z);
42-
p.orientation = createQuaternionFromRPY(roll, pitch, yaw);
41+
p.position = create_point(x, y, z);
42+
p.orientation = create_quaternion_from_rpy(roll, pitch, yaw);
4343
return p;
4444
}
4545

@@ -67,15 +67,15 @@ PredictedPath createTestPredictedPath(
6767
TEST(predicted_path_utils, testCalcInterpolatedPose)
6868
{
6969
using autoware::object_recognition_utils::calcInterpolatedPose;
70-
using autoware::universe_utils::createQuaternionFromRPY;
71-
using autoware::universe_utils::createQuaternionFromYaw;
72-
using autoware::universe_utils::deg2rad;
70+
using autoware_utils::create_quaternion_from_rpy;
71+
using autoware_utils::create_quaternion_from_yaw;
72+
using autoware_utils::deg2rad;
7373

7474
const auto path = createTestPredictedPath(100, 0.1, 1.0);
7575

7676
// Normal Case (same point as the original point)
7777
{
78-
const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
78+
const auto ans_quat = create_quaternion_from_rpy(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
7979
for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) {
8080
const auto p = calcInterpolatedPose(path, t);
8181

@@ -92,7 +92,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
9292

9393
// Normal Case (random case)
9494
{
95-
const auto ans_quat = createQuaternionFromRPY(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
95+
const auto ans_quat = create_quaternion_from_rpy(deg2rad(0.0), deg2rad(0.0), deg2rad(0.0));
9696
for (double t = 0.0; t < 9.0; t += 0.3) {
9797
const auto p = calcInterpolatedPose(path, t);
9898

@@ -133,9 +133,9 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
133133
TEST(predicted_path_utils, resamplePredictedPath_by_vector)
134134
{
135135
using autoware::object_recognition_utils::resamplePredictedPath;
136-
using autoware::universe_utils::createQuaternionFromRPY;
137-
using autoware::universe_utils::createQuaternionFromYaw;
138-
using autoware::universe_utils::deg2rad;
136+
using autoware_utils::create_quaternion_from_rpy;
137+
using autoware_utils::create_quaternion_from_yaw;
138+
using autoware_utils::deg2rad;
139139

140140
const auto path = createTestPredictedPath(10, 1.0, 1.0);
141141

@@ -210,9 +210,9 @@ TEST(predicted_path_utils, resamplePredictedPath_by_vector)
210210
TEST(predicted_path_utils, resamplePredictedPath_by_sampling_time)
211211
{
212212
using autoware::object_recognition_utils::resamplePredictedPath;
213-
using autoware::universe_utils::createQuaternionFromRPY;
214-
using autoware::universe_utils::createQuaternionFromYaw;
215-
using autoware::universe_utils::deg2rad;
213+
using autoware_utils::create_quaternion_from_rpy;
214+
using autoware_utils::create_quaternion_from_yaw;
215+
using autoware_utils::deg2rad;
216216

217217
const auto path = createTestPredictedPath(10, 1.0, 1.0);
218218

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