rename namespace

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

autoware_utils_geometry/README.md

@@ -41,7 +41,7 @@ The geometry module provides classes and functions for handling 2D and 3D points
 ```cpp
 #include "autoware_utils/geometry/alt_geometry.hpp"
 
-using namespace autoware_utils::alt;
+using namespace autoware_utils_geometry::alt;
 
 int main() {
   Vector2d vec1(3.0, 4.0);

autoware_utils_geometry/include/autoware_utils_geometry/geometry/alt_geometry.hpp

@@ -22,7 +22,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 // Alternatives for Boost.Geometry ----------------------------------------------------------------
 // TODO(mitukou1109): remove namespace
@@ -195,6 +195,6 @@ bool within(const alt::Point2d & point, const alt::ConvexPolygon2d & poly);
 
 bool within(
   const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing);
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__ALT_GEOMETRY_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/boost_geometry.hpp

@@ -25,7 +25,7 @@
 
 #include <geometry_msgs/msg/point.hpp>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 // 2D
 struct Point2d;
@@ -93,7 +93,7 @@ inline Point3d from_msg(const geometry_msgs::msg::Point & msg)
   point.z() = msg.z;
   return point;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 BOOST_GEOMETRY_REGISTER_POINT_2D(                                 // NOLINT
   autoware_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT

autoware_utils_geometry/include/autoware_utils_geometry/geometry/boost_polygon_utils.hpp

@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 bool is_clockwise(const Polygon2d & polygon);
 Polygon2d inverse_clockwise(const Polygon2d & polygon);
@@ -47,6 +47,6 @@ Polygon2d to_footprint(
   const double base_to_rear, const double width);
 double get_area(const autoware_perception_msgs::msg::Shape & shape);
 Polygon2d expand_polygon(const Polygon2d & input_polygon, const double offset);
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__BOOST_POLYGON_UTILS_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/ear_clipping.hpp

@@ -20,7 +20,7 @@
 #include <optional>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 struct LinkedPoint
 {
@@ -101,6 +101,6 @@ std::vector<alt::ConvexPolygon2d> triangulate(const alt::Polygon2d & polygon);
  * @return A vector of convex triangles representing the triangulated polygon.
  */
 std::vector<Polygon2d> triangulate(const Polygon2d & polygon);
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__EAR_CLIPPING_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/geometry.hpp

@@ -96,7 +96,7 @@ inline void doTransform(
 #endif
 }  // namespace tf2
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 
 // TODO(Takagi, Isamu): Move to each function.
@@ -593,6 +593,6 @@ std::optional<geometry_msgs::msg::Point> intersect(
  */
 bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__GEOMETRY_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/gjk_2d.hpp

@@ -17,13 +17,13 @@
 
 #include "autoware_utils_geometry/geometry/boost_geometry.hpp"
 
-namespace autoware_utils::gjk
+namespace autoware_utils_geometry::gjk
 {
 /**
  * @brief Check if 2 convex polygons intersect using the GJK algorithm
  * @details much faster than boost::geometry::overlaps() but limited to convex polygons
  */
 bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
-}  // namespace autoware_utils::gjk
+}  // namespace autoware_utils_geometry::gjk
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__GJK_2D_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/pose_deviation.hpp

@@ -18,7 +18,7 @@
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 struct PoseDeviation
 {
@@ -39,6 +39,6 @@ double calc_yaw_deviation(
 PoseDeviation calc_pose_deviation(
   const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & target_pose);
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__POSE_DEVIATION_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/random_concave_polygon.hpp

@@ -20,7 +20,7 @@
 #include <optional>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 /// @brief generate a random non-convex polygon
 /// @param vertices number of vertices for the desired polygon
@@ -42,6 +42,6 @@ bool test_intersection(
   const std::function<
     bool(const autoware_utils::Polygon2d &, const autoware_utils::Polygon2d &)> &);
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__RANDOM_CONCAVE_POLYGON_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/random_convex_polygon.hpp

@@ -17,13 +17,13 @@
 
 #include <autoware_utils_geometry/geometry/geometry.hpp>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 /// @brief generate a random convex polygon
 /// @param vertices number of vertices for the desired polygon
 /// @param max points will be generated in the range [-max,max]
 /// @details algorithm from https://cglab.ca/~sander/misc/ConvexGeneration/convex.html
 Polygon2d random_convex_polygon(const size_t vertices, const double max);
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__RANDOM_CONVEX_POLYGON_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/geometry/sat_2d.hpp

@@ -17,14 +17,14 @@
 
 #include "autoware_utils_geometry/geometry/boost_geometry.hpp"
 
-namespace autoware_utils::sat
+namespace autoware_utils_geometry::sat
 {
 /**
  * @brief Check if 2 convex polygons intersect using the SAT algorithm
  * @details faster than boost::geometry::overlap() but speed decline sharply as vertices increase
  */
 bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
 
-}  // namespace autoware_utils::sat
+}  // namespace autoware_utils_geometry::sat
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__GEOMETRY__SAT_2D_HPP_

autoware_utils_geometry/include/autoware_utils_geometry/msg/covariance.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_UTILS_GEOMETRY__MSG__COVARIANCE_HPP_
 #define AUTOWARE_UTILS_GEOMETRY__MSG__COVARIANCE_HPP_
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 namespace xyz_covariance_index
 {
@@ -115,6 +115,6 @@ enum XYZ_UPPER_COV_IDX {
   Z_Z = 5,
 };
 }  // namespace xyz_upper_covariance_index
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry
 
 #endif  // AUTOWARE_UTILS_GEOMETRY__MSG__COVARIANCE_HPP_

autoware_utils_geometry/package.xml

@@ -16,6 +16,7 @@
 
   <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_utils_math</depend>
+  <depend>libboost-system-dev</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>

autoware_utils_geometry/src/geometry/alt_geometry.cpp

@@ -19,7 +19,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 // Alternatives for Boost.Geometry ----------------------------------------------------------------
 namespace alt
@@ -644,4 +644,4 @@ bool within(
 
   return true;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/boost_polygon_utils.cpp

@@ -68,7 +68,7 @@ double get_circle_area(const geometry_msgs::msg::Vector3 & dimensions)
 }
 }  // namespace
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 bool is_clockwise(const Polygon2d & polygon)
 {
@@ -264,4 +264,4 @@ Polygon2d expand_polygon(const Polygon2d & input_polygon, const double offset)
   boost::geometry::correct(expanded_polygon);
   return expanded_polygon;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/ear_clipping.cpp

@@ -18,7 +18,7 @@
 #include <limits>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 
 void remove_point(const std::size_t p_index, std::vector<LinkedPoint> & points)
@@ -631,4 +631,4 @@ std::vector<Polygon2d> triangulate(const Polygon2d & poly)
   }
   return triangles;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/geometry.cpp

@@ -36,7 +36,7 @@ void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf2::Tran
 }
 }  // namespace tf2
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 geometry_msgs::msg::Vector3 get_rpy(const geometry_msgs::msg::Quaternion & quat)
 {
@@ -394,4 +394,4 @@ bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & conv
   return gjk::intersects(convex_polygon1, convex_polygon2);
 }
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/gjk_2d.cpp

@@ -18,7 +18,7 @@
 
 #include <boost/geometry/algorithms/equals.hpp>
 
-namespace autoware_utils::gjk
+namespace autoware_utils_geometry::gjk
 {
 
 namespace
@@ -147,4 +147,4 @@ bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_poly
   }
   return true;
 }
-}  // namespace autoware_utils::gjk
+}  // namespace autoware_utils_geometry::gjk

autoware_utils_geometry/src/geometry/pose_deviation.cpp

@@ -28,7 +28,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 
 double calc_lateral_deviation(
@@ -82,4 +82,4 @@ PoseDeviation calc_pose_deviation(
 
   return deviation;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/random_concave_polygon.cpp

@@ -29,7 +29,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 namespace
 {
@@ -404,4 +404,4 @@ std::optional<Polygon2d> random_concave_polygon(const size_t vertices, const dou
   }
   return poly;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/random_convex_polygon.cpp

@@ -20,7 +20,7 @@
 #include <random>
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_geometry
 {
 namespace
 {
@@ -110,4 +110,4 @@ Polygon2d random_convex_polygon(const size_t vertices, const double max)
   boost::geometry::correct(poly);
   return poly;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_geometry

autoware_utils_geometry/src/geometry/sat_2d.cpp

@@ -16,7 +16,7 @@
 
 #include <utility>
 
-namespace autoware_utils::sat
+namespace autoware_utils_geometry::sat
 {
 
 namespace
@@ -79,4 +79,4 @@ bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_poly
          has_no_separating_axis(convex_polygon2, convex_polygon1);
 }
 
-}  // namespace autoware_utils::sat
+}  // namespace autoware_utils_geometry::sat