refactor(motion_utils): add autoware namespace

Signed-off-by: kosuke55 <[email protected]>

common/autoware_motion_utils/include/autoware/motion_utils/constants.hpp

@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
 #define AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 constexpr double overlap_threshold = 0.1;
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__CONSTANTS_HPP_

common/autoware_motion_utils/include/autoware/motion_utils/distance/distance.hpp

@@ -22,12 +22,12 @@
 #include <tuple>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 std::optional<double> calcDecelDistWithJerkAndAccConstraints(
   const double current_vel, const double target_vel, const double current_acc, const double acc_min,
   const double jerk_acc, const double jerk_dec);
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__DISTANCE__DISTANCE_HPP_

common/autoware_motion_utils/include/autoware/motion_utils/factor/velocity_factor_interface.hpp

@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::VelocityFactor;
@@ -49,6 +49,6 @@ class VelocityFactorInterface
   VelocityFactor velocity_factor_{};
 };
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_

common/autoware_motion_utils/include/autoware/motion_utils/marker/marker_helper.hpp

@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 using geometry_msgs::msg::Pose;
 
@@ -48,6 +48,6 @@ visualization_msgs::msg::MarkerArray createDeletedSlowDownVirtualWallMarker(
 
 visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
   const rclcpp::Time & now, const int32_t id);
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__MARKER__MARKER_HELPER_HPP_

common/autoware_motion_utils/include/autoware/motion_utils/marker/virtual_wall_marker_creator.hpp

@@ -25,7 +25,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 
 /// @brief type of virtual wall associated with different marker styles and namespace
@@ -76,6 +76,6 @@ class VirtualWallMarkerCreator
   /// @param now current time to be used for displaying the markers
   visualization_msgs::msg::MarkerArray create_markers(const rclcpp::Time & now = rclcpp::Time());
 };
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__MARKER__VIRTUAL_WALL_MARKER_CREATOR_HPP_

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

@@ -21,7 +21,7 @@
 
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 /**
  * @brief A resampling function for a path(points). Note that in a default setting, position xy are
@@ -234,6 +234,6 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
   const bool use_akima_spline_for_xy = false, const bool use_lerp_for_z = true,
   const bool use_zero_order_hold_for_twist = true,
   const bool resample_input_trajectory_stop_point = true);
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_

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

@@ -42,7 +42,7 @@ bool validate_size(const T & points)
 template <class T>
 bool validate_resampling_range(const T & points, const std::vector<double> & resampling_intervals)
 {
-  const double points_length = autoware_motion_utils::calcArcLength(points);
+  const double points_length = autoware::motion_utils::calcArcLength(points);
   return points_length >= resampling_intervals.back();
 }
 
@@ -105,10 +105,10 @@ bool validate_arguments(const T & input_points, const double resampling_interval
   }
 
   // check resampling interval
-  if (resampling_interval < autoware_motion_utils::overlap_threshold) {
+  if (resampling_interval < autoware::motion_utils::overlap_threshold) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: resampling interval is less than %f",
-      autoware_motion_utils::overlap_threshold);
+      autoware::motion_utils::overlap_threshold);
     autoware::universe_utils::print_backtrace();
     return false;
   }

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

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 using TrajectoryPoints = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;
 
@@ -115,6 +115,6 @@ inline tier4_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
   return output;
 }
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_

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

@@ -25,7 +25,7 @@
 #include <algorithm>
 #include <limits>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 /**
  * @brief An interpolation function that finds the closest interpolated point on the trajectory from
@@ -91,6 +91,6 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
   return autoware::universe_utils::getPose(points.back());
 }
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_

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

@@ -20,7 +20,7 @@
 
 #include <optional>
 #include <utility>
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
@@ -41,6 +41,6 @@ size_t findNearestSegmentIndexFromLaneId(
 tier4_planning_msgs::msg::PathWithLaneId convertToRearWheelCenter(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const double rear_to_cog,
   const bool enable_last_point_compensation = true);
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_

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

@@ -35,7 +35,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 static inline rclcpp::Logger get_logger()
 {
@@ -1788,7 +1788,7 @@ std::optional<size_t> insertStopPoint(
   const size_t stop_seg_idx, const geometry_msgs::msg::Point & stop_point, T & points_with_twist,
   const double overlap_threshold = 1e-3)
 {
-  const auto insert_idx = autoware_motion_utils::insertTargetPoint(
+  const auto insert_idx = autoware::motion_utils::insertTargetPoint(
     stop_seg_idx, stop_point, points_with_twist, overlap_threshold);
 
   if (!insert_idx) {
@@ -2231,13 +2231,13 @@ std::optional<double> calcDistanceToForwardStopPoint(
   }
 
   const auto nearest_segment_idx =
-    autoware_motion_utils::findNearestSegmentIndex(points_with_twist, pose, max_dist, max_yaw);
+    autoware::motion_utils::findNearestSegmentIndex(points_with_twist, pose, max_dist, max_yaw);
 
   if (!nearest_segment_idx) {
     return std::nullopt;
   }
 
-  const auto stop_idx = autoware_motion_utils::searchZeroVelocityIndex(
+  const auto stop_idx = autoware::motion_utils::searchZeroVelocityIndex(
     points_with_twist, *nearest_segment_idx + 1, points_with_twist.size());
 
   if (!stop_idx) {
@@ -2278,7 +2278,7 @@ T cropForwardPoints(
   }
 
   double sum_length =
-    -autoware_motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos);
+    -autoware::motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos);
   for (size_t i = target_seg_idx + 1; i < points.size(); ++i) {
     sum_length += autoware::universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (forward_length < sum_length) {
@@ -2318,7 +2318,7 @@ T cropBackwardPoints(
   }
 
   double sum_length =
-    -autoware_motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos);
+    -autoware::motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos);
   for (int i = target_seg_idx; 0 < i; --i) {
     sum_length -= autoware::universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (sum_length < -backward_length) {
@@ -2487,6 +2487,6 @@ extern template bool isTargetPointFront<std::vector<autoware_planning_msgs::msg:
   const geometry_msgs::msg::Point & base_point, const geometry_msgs::msg::Point & target_point,
   const double threshold = 0.0);
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY__TRAJECTORY_HPP_

common/autoware_motion_utils/include/autoware/motion_utils/vehicle/vehicle_state_checker.hpp

@@ -23,7 +23,7 @@
 
 #include <deque>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 
 using autoware_planning_msgs::msg::Trajectory;
@@ -77,6 +77,6 @@ class VehicleArrivalChecker : public VehicleStopChecker
 
   void onTrajectory(const Trajectory::ConstSharedPtr msg);
 };
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils
 
 #endif  // AUTOWARE__MOTION_UTILS__VEHICLE__VEHICLE_STATE_CHECKER_HPP_

common/autoware_motion_utils/src/distance/distance.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/motion_utils/distance/distance.hpp"
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 namespace
 {
@@ -269,4 +269,4 @@ std::optional<double> calcDecelDistWithJerkAndAccConstraints(
 
   return calcDecelDistPlanType3(current_vel, target_vel, current_acc, jerk_acc);
 }
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils

common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp

@@ -19,7 +19,7 @@
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
 #include <tier4_planning_msgs/msg/path_point_with_lane_id.hpp>
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 template <class PointType>
 void VelocityFactorInterface::set(
@@ -31,7 +31,7 @@ void VelocityFactorInterface::set(
   velocity_factor_.behavior = behavior_;
   velocity_factor_.pose = stop_pose;
   velocity_factor_.distance =
-    static_cast<float>(autoware_motion_utils::calcSignedArcLength(points, curr_point, stop_point));
+    static_cast<float>(autoware::motion_utils::calcSignedArcLength(points, curr_point, stop_point));
   velocity_factor_.status = status;
   velocity_factor_.detail = detail;
 }
@@ -46,4 +46,4 @@ template void VelocityFactorInterface::set<autoware_planning_msgs::msg::Trajecto
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> &, const Pose &, const Pose &,
   const VelocityFactorStatus, const std::string &);
 
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils

common/autoware_motion_utils/src/marker/marker_helper.cpp

@@ -85,7 +85,7 @@ inline visualization_msgs::msg::MarkerArray createDeletedVirtualWallMarkerArray(
 }
 }  // namespace
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
@@ -140,4 +140,4 @@ visualization_msgs::msg::MarkerArray createDeletedDeadLineVirtualWallMarker(
 {
   return createDeletedVirtualWallMarkerArray("dead_line_", now, id);
 }
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils

common/autoware_motion_utils/src/marker/virtual_wall_marker_creator.cpp

@@ -16,7 +16,7 @@
 
 #include "autoware/motion_utils/marker/marker_helper.hpp"
 
-namespace autoware_motion_utils
+namespace autoware::motion_utils
 {
 
 void VirtualWallMarkerCreator::cleanup()
@@ -55,13 +55,13 @@ visualization_msgs::msg::MarkerArray VirtualWallMarkerCreator::create_markers(
   for (const auto & virtual_wall : virtual_walls_) {
     switch (virtual_wall.style) {
       case stop:
-        create_fn = autoware_motion_utils::createStopVirtualWallMarker;
+        create_fn = autoware::motion_utils::createStopVirtualWallMarker;
         break;
       case slowdown:
-        create_fn = autoware_motion_utils::createSlowDownVirtualWallMarker;
+        create_fn = autoware::motion_utils::createSlowDownVirtualWallMarker;
         break;
       case deadline:
-        create_fn = autoware_motion_utils::createDeadLineVirtualWallMarker;
+        create_fn = autoware::motion_utils::createDeadLineVirtualWallMarker;
         break;
     }
     auto markers = create_fn(
@@ -85,4 +85,4 @@ visualization_msgs::msg::MarkerArray VirtualWallMarkerCreator::create_markers(
   cleanup();
   return marker_array;
 }
-}  // namespace autoware_motion_utils
+}  // namespace autoware::motion_utils