feat: remove dependency on autoware_universe_utils from autoware_inte…

…rpolation and autoware_motion_utils (autowarefoundation#10092)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

build_depends.repos

@@ -12,7 +12,7 @@ repositories:
   core/autoware_utils:
     type: git
     url: https://github.com/autowarefoundation/autoware_utils.git
-    version: 1.0.0
+    version: 1.1.0
   core/autoware_lanelet2_extension:
     type: git
     url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git

common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp

@@ -16,7 +16,7 @@
 #define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_
 
 #include "autoware/interpolation/interpolation_utils.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 

common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp

@@ -49,7 +49,7 @@ class SplineInterpolationPoints2d
   {
     std::vector<geometry_msgs::msg::Point> points_inner;
     for (const auto & p : points) {
-      points_inner.push_back(autoware::universe_utils::getPoint(p));
+      points_inner.push_back(autoware_utils::get_point(p));
     }
     calcSplineCoefficientsInner(points_inner);
   }

common/autoware_interpolation/package.xml

@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>eigen</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

common/autoware_interpolation/src/spline_interpolation_points_2d.cpp

@@ -89,8 +89,7 @@ geometry_msgs::msg::Pose SplineInterpolationPoints2d::getSplineInterpolatedPose(
 {
   geometry_msgs::msg::Pose pose;
   pose.position = getSplineInterpolatedPoint(idx, s);
-  pose.orientation =
-    autoware::universe_utils::createQuaternionFromYaw(getSplineInterpolatedYaw(idx, s));
+  pose.orientation = autoware_utils::create_quaternion_from_yaw(getSplineInterpolatedYaw(idx, s));
   return pose;
 }
 

common/autoware_interpolation/test/src/test_spline_interpolation.cpp

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "autoware/interpolation/spline_interpolation.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 

common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
@@ -27,15 +27,15 @@ using autoware::interpolation::SplineInterpolationPoints2d;
 
 TEST(spline_interpolation, splineYawFromPoints)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
 
   {  // straight
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(0.0, 0.0, 0.0));
-    points.push_back(createPoint(1.0, 1.5, 0.0));
-    points.push_back(createPoint(2.0, 3.0, 0.0));
-    points.push_back(createPoint(3.0, 4.5, 0.0));
-    points.push_back(createPoint(4.0, 6.0, 0.0));
+    points.push_back(create_point(0.0, 0.0, 0.0));
+    points.push_back(create_point(1.0, 1.5, 0.0));
+    points.push_back(create_point(2.0, 3.0, 0.0));
+    points.push_back(create_point(3.0, 4.5, 0.0));
+    points.push_back(create_point(4.0, 6.0, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937, 0.9827937, 0.9827937, 0.9827937};
 
@@ -47,11 +47,11 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // curve
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(-2.0, -10.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
-    points.push_back(createPoint(3.0, 3.0, 0.0));
-    points.push_back(createPoint(5.0, 10.0, 0.0));
-    points.push_back(createPoint(10.0, 12.5, 0.0));
+    points.push_back(create_point(-2.0, -10.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
+    points.push_back(create_point(3.0, 3.0, 0.0));
+    points.push_back(create_point(5.0, 10.0, 0.0));
+    points.push_back(create_point(10.0, 12.5, 0.0));
 
     const std::vector<double> ans{1.368174, 0.961318, 1.086098, 0.938357, 0.278594};
     const auto yaws = autoware::interpolation::splineYawFromPoints(points);
@@ -62,15 +62,15 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // size of base_keys is 1 (infeasible to interpolate)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
 
     EXPECT_THROW(autoware::interpolation::splineYawFromPoints(points), std::logic_error);
   }
 
   {  // straight: size of base_keys is 2 (edge case in the implementation)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937};
 
@@ -82,9 +82,9 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // straight: size of base_keys is 3 (edge case in the implementation)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
-    points.push_back(createPoint(3.0, 3.0, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
+    points.push_back(create_point(3.0, 3.0, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937, 0.9827937};
 
@@ -97,15 +97,15 @@ TEST(spline_interpolation, splineYawFromPoints)
 
 TEST(spline_interpolation, SplineInterpolationPoints2d)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
 
   // curve
   std::vector<geometry_msgs::msg::Point> points;
-  points.push_back(createPoint(-2.0, -10.0, 0.0));
-  points.push_back(createPoint(2.0, 1.5, 0.0));
-  points.push_back(createPoint(3.0, 3.0, 0.0));
-  points.push_back(createPoint(5.0, 10.0, 0.0));
-  points.push_back(createPoint(10.0, 12.5, 0.0));
+  points.push_back(create_point(-2.0, -10.0, 0.0));
+  points.push_back(create_point(2.0, 1.5, 0.0));
+  points.push_back(create_point(3.0, 3.0, 0.0));
+  points.push_back(create_point(5.0, 10.0, 0.0));
+  points.push_back(create_point(10.0, 12.5, 0.0));
 
   SplineInterpolationPoints2d s(points);
 
@@ -194,19 +194,19 @@ TEST(spline_interpolation, SplineInterpolationPoints2d)
 
   // size of base_keys is 1 (infeasible to interpolate)
   std::vector<geometry_msgs::msg::Point> single_points;
-  single_points.push_back(createPoint(1.0, 0.0, 0.0));
+  single_points.push_back(create_point(1.0, 0.0, 0.0));
   EXPECT_THROW(SplineInterpolationPoints2d{single_points}, std::logic_error);
 }
 
 TEST(spline_interpolation, SplineInterpolationPoints2dPolymorphism)
 {
-  using autoware::universe_utils::createPoint;
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_utils::create_point;
 
   std::vector<geometry_msgs::msg::Point> points;
-  points.push_back(createPoint(-2.0, -10.0, 0.0));
-  points.push_back(createPoint(2.0, 1.5, 0.0));
-  points.push_back(createPoint(3.0, 3.0, 0.0));
+  points.push_back(create_point(-2.0, -10.0, 0.0));
+  points.push_back(create_point(2.0, 1.5, 0.0));
+  points.push_back(create_point(3.0, 3.0, 0.0));
 
   std::vector<TrajectoryPoint> trajectory_points;
   for (const auto & p : points) {

common/autoware_motion_utils/docs/vehicle/vehicle.md

@@ -36,7 +36,7 @@ bool isVehicleStopped(const double stop_duration)
 Necessary includes:
 
 ```c++
-#include <autoware/universe_utils/vehicle/vehicle_state_checker.hpp>
+#include <autoware_utils/vehicle/vehicle_state_checker.hpp>
 ```
 
 1.Create a checker instance.
@@ -116,7 +116,7 @@ bool isVehicleStoppedAtStopPoint(const double stop_duration)
 Necessary includes:
 
 ```c++
-#include <autoware/universe_utils/vehicle/vehicle_state_checker.hpp>
+#include <autoware_utils/vehicle/vehicle_state_checker.hpp>
 ```
 
 1.Create a checker instance.

common/autoware_motion_utils/include/autoware/motion_utils/resample/resample_utils.hpp

@@ -15,11 +15,11 @@
 #ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
 #define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
 
-#include "autoware/universe_utils/system/backtrace.hpp"
+#include "autoware_utils/system/backtrace.hpp"
 
 #include <autoware/motion_utils/constants.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware_utils/geometry/geometry.hpp>
 
 #include <vector>
 
@@ -50,9 +50,9 @@ template <class T>
 bool validate_points_duplication(const T & points)
 {
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pt = autoware::universe_utils::getPoint(points.at(i));
-    const auto & next_pt = autoware::universe_utils::getPoint(points.at(i + 1));
-    const double ds = autoware::universe_utils::calcDistance2d(curr_pt, next_pt);
+    const auto & curr_pt = autoware_utils::get_point(points.at(i));
+    const auto & next_pt = autoware_utils::get_point(points.at(i + 1));
+    const double ds = autoware_utils::calc_distance2d(curr_pt, next_pt);
     if (ds < close_s_threshold) {
       return false;
     }
@@ -67,27 +67,27 @@ bool validate_arguments(const T & input_points, const std::vector<double> & resa
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
   if (!validate_size(resampling_intervals)) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: The number of resampling intervals is less than 2");
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
 
   // Check resampling range
   if (!validate_resampling_range(input_points, resampling_intervals)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points");
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
 
@@ -100,7 +100,7 @@ bool validate_arguments(const T & input_points, const double resampling_interval
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
 
@@ -109,14 +109,14 @@ bool validate_arguments(const T & input_points, const double resampling_interval
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: resampling interval is less than %f",
       autoware::motion_utils::overlap_threshold);
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    autoware::universe_utils::print_backtrace();
+    autoware_utils::print_backtrace();
     return false;
   }
 

common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -73,22 +73,22 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
   }
 
   if (points.size() < 2 || target_length < 0.0) {
-    return autoware::universe_utils::getPose(points.front());
+    return autoware_utils::get_pose(points.front());
   }
 
   double accumulated_length = 0;
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pose = autoware::universe_utils::getPose(points.at(i));
-    const auto & next_pose = autoware::universe_utils::getPose(points.at(i + 1));
-    const double length = autoware::universe_utils::calcDistance3d(curr_pose, next_pose);
+    const auto & curr_pose = autoware_utils::get_pose(points.at(i));
+    const auto & next_pose = autoware_utils::get_pose(points.at(i + 1));
+    const double length = autoware_utils::calc_distance3d(curr_pose, next_pose);
     if (accumulated_length + length > target_length) {
       const double ratio = (target_length - accumulated_length) / std::max(length, 1e-6);
-      return autoware::universe_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
+      return autoware_utils::calc_interpolated_pose(curr_pose, next_pose, ratio);
     }
     accumulated_length += length;
   }
 
-  return autoware::universe_utils::getPose(points.back());
+  return autoware_utils::get_pose(points.back());
 }
 
 }  // namespace autoware::motion_utils