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feat(autoware_utils): update readme as deprecated (#51)
* feat(autoware_utils_geometry): split package Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * compatibility header Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * rename namespace Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix namespace Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(autoware_utils_tf): split package Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix path Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix include path Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * move header Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(autoware_utils): update readme as deprecated Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add todo comment for test Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * move tests Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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‎autoware_utils/CMakeLists.txt

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@@ -3,25 +3,4 @@ project(autoware_utils)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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file(GLOB_RECURSE src_files
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src/*.cpp
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src/geometry/*.cpp
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src/math/*.cpp
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src/ros/*.cpp
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src/system/*.cpp
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)
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ament_auto_add_library(autoware_utils SHARED
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${src_files}
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)
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if(BUILD_TESTING)
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file(GLOB_RECURSE test_files test/**/*.cpp)
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ament_add_ros_isolated_gtest(test_autoware_utils ${test_files})
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target_link_libraries(test_autoware_utils
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autoware_utils
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)
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endif()
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ament_auto_package()

‎autoware_utils/README.md

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# autoware_utils Library
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# autoware_utils
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## Overview
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This package is deprecated and kept for compatibility. Use separate packages for each feature instead.
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The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This library provides essential utilities for geometry, mathematics, ROS (Robot Operating System) expansions, diagnostics, and more. It is extensively used in the Autoware project to handle common tasks such as geometric calculations, data normalization, message conversions, performance monitoring, and point cloud transformations.
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- [autoware_utils_debug](../autoware_utils_debug/README.md)
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- [autoware_utils_diagnostics](../autoware_utils_diagnostics/README.md)
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- [autoware_utils_geometry](../autoware_utils_geometry/README.md)
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- [autoware_utils_logging](../autoware_utils_logging/README.md)
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- [autoware_utils_math](../autoware_utils_math/README.md)
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- [autoware_utils_pcl](../autoware_utils_pcl/README.md)
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- [autoware_utils_rclcpp](../autoware_utils_rclcpp/README.md)
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- [autoware_utils_system](../autoware_utils_system/README.md)
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- [autoware_utils_tf](../autoware_utils_tf/README.md)
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- [autoware_utils_uuid](../autoware_utils_uuid/README.md)
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- [autoware_utils_visualization](../autoware_utils_visualization/README.md)

‎autoware_utils/package.xml

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<depend>autoware_utils_tf</depend>
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<depend>autoware_utils_uuid</depend>
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<depend>autoware_utils_visualization</depend>
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<depend>autoware_vehicle_msgs</depend>
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<depend>builtin_interfaces</depend>
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<depend>diagnostic_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>libboost-system-dev</depend>
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<depend>rclcpp</depend>
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<depend>tf2</depend>
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<depend>tf2_eigen</depend>
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<depend>tf2_geometry_msgs</depend>
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<depend>unique_identifier_msgs</depend>
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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‎autoware_utils/src/autoware_utils.cpp

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This file was deleted.

‎autoware_utils/test/src/math/test_normalization.cpp

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‎autoware_utils/test/src/math/test_unit_conversion.cpp

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‎autoware_utils/test/src/test_autoware_utils.cpp

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‎autoware_utils/test/src/math/test_constants.cpp ‎autoware_utils_math/test/cases/constants.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware_utils/math/constants.hpp"
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#include "autoware_utils_math/constants.hpp"
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#include <gtest/gtest.h>
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TEST(constants, pi) // NOLINT for gtest
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{
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using autoware_utils::pi;
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using autoware_utils_math::pi;
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EXPECT_DOUBLE_EQ(pi, 3.14159265358979323846);
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}
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TEST(constants, gravity) // NOLINT for gtest
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{
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using autoware_utils::gravity;
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using autoware_utils_math::gravity;
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EXPECT_DOUBLE_EQ(gravity, 9.80665);
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}

‎autoware_utils_math/test/cases/normalization.cpp

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// Copyright 2025 The Autoware Contributors
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// Copyright 2020 TIER IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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}
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}
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}
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TEST(normalization, normalize_degree) // NOLINT for gtest
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{
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using autoware_utils_math::normalize_degree;
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// -180 <= deg < 180
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{
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constexpr double eps = 0.1;
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constexpr double v_min = -180;
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constexpr double v_mid = 0;
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constexpr double v_max = 180;
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EXPECT_DOUBLE_EQ(normalize_degree(v_min - eps), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_degree(v_min), v_min);
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EXPECT_DOUBLE_EQ(normalize_degree(v_mid), v_mid);
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EXPECT_DOUBLE_EQ(normalize_degree(v_max - eps), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_degree(v_max), v_min);
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}
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// 0 <= deg < 360
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{
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constexpr double eps = 0.1;
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constexpr double v_min = 0;
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constexpr double v_mid = 180;
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constexpr double v_max = 360;
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EXPECT_DOUBLE_EQ(normalize_degree(v_min - eps, 0), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_degree(v_min, 0), v_min);
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EXPECT_DOUBLE_EQ(normalize_degree(v_mid, 0), v_mid);
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EXPECT_DOUBLE_EQ(normalize_degree(v_max - eps, 0), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_degree(v_max, 0), v_min);
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}
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}
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TEST(normalization, normalize_radian) // NOLINT for gtest
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{
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using autoware_utils_math::normalize_radian;
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// -M_PI <= deg < M_PI
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{
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constexpr double eps = 0.1;
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constexpr double v_min = -M_PI;
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constexpr double v_mid = 0;
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constexpr double v_max = M_PI;
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EXPECT_DOUBLE_EQ(normalize_radian(v_min - eps), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_radian(v_min), v_min);
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EXPECT_DOUBLE_EQ(normalize_radian(v_mid), v_mid);
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EXPECT_DOUBLE_EQ(normalize_radian(v_max - eps), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_radian(v_max), v_min);
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}
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// 0 <= deg < 2 * M_PI
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{
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constexpr double eps = 0.1;
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constexpr double v_min = 0;
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constexpr double v_mid = M_PI;
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constexpr double v_max = 2 * M_PI;
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EXPECT_DOUBLE_EQ(normalize_radian(v_min - eps, 0), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_radian(v_min, 0), v_min);
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EXPECT_DOUBLE_EQ(normalize_radian(v_mid, 0), v_mid);
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EXPECT_DOUBLE_EQ(normalize_radian(v_max - eps, 0), v_max - eps);
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EXPECT_DOUBLE_EQ(normalize_radian(v_max, 0), v_min);
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}
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}

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