refactor(obstacle_cruise_planner)!: add autoware_ prefix (#7419)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

.github/CODEOWNERS

@@ -190,7 +190,7 @@ planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp
 planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
-planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
+planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp
 planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -169,7 +169,7 @@
   <group>
     <group if="$(eval &quot;'$(var motion_stop_planner_type)' == 'obstacle_cruise_planner'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="obstacle_cruise_planner" plugin="motion_planning::ObstacleCruisePlannerNode" name="obstacle_cruise_planner" namespace="">
+        <composable_node pkg="autoware_obstacle_cruise_planner" plugin="autoware::motion_planning::ObstacleCruisePlannerNode" name="obstacle_cruise_planner" namespace="">
           <!-- topic remap -->
           <remap from="~/input/trajectory" to="obstacle_velocity_limiter/trajectory"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>

launch/tier4_planning_launch/package.xml

@@ -63,6 +63,7 @@
   <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
   <exec_depend>autoware_freespace_planner</exec_depend>
   <exec_depend>autoware_mission_planner</exec_depend>
+  <exec_depend>autoware_obstacle_cruise_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_planning_topic_converter</exec_depend>
   <exec_depend>autoware_planning_validator</exec_depend>
@@ -72,7 +73,6 @@
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>
-  <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>
 

planning/.pages

@@ -47,8 +47,8 @@ nav:
       - 'Model Predictive Trajectory (MPT)': planning/autoware_path_optimizer/docs/mpt
       - 'How to Debug': planning/autoware_path_optimizer/docs/debug
     - 'Obstacle Cruise Planner':
-      - 'About Obstacle Cruise': planning/obstacle_cruise_planner
-      - 'How to Debug': planning/obstacle_cruise_planner/docs/debug
+      - 'About Obstacle Cruise': planning/autoware_obstacle_cruise_planner
+      - 'How to Debug': planning/autoware_obstacle_cruise_planner/docs/debug
     - 'Obstacle Stop Planner': planning/obstacle_stop_planner
     - 'Obstacle Velocity Limiter': planning/obstacle_velocity_limiter
     - 'Path Smoother':

planning/obstacle_cruise_planner/CMakeLists.txt → planning/autoware_obstacle_cruise_planner/CMakeLists.txt

@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(obstacle_cruise_planner)
+project(autoware_obstacle_cruise_planner)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
-ament_auto_add_library(obstacle_cruise_planner_core SHARED
+ament_auto_add_library(autoware_obstacle_cruise_planner_core SHARED
   src/node.cpp
   src/utils.cpp
   src/polygon_utils.cpp
@@ -16,19 +16,19 @@ ament_auto_add_library(obstacle_cruise_planner_core SHARED
   src/planner_interface.cpp
 )
 
-rclcpp_components_register_node(obstacle_cruise_planner_core
-  PLUGIN "motion_planning::ObstacleCruisePlannerNode"
-  EXECUTABLE obstacle_cruise_planner
+rclcpp_components_register_node(autoware_obstacle_cruise_planner_core
+  PLUGIN "autoware::motion_planning::ObstacleCruisePlannerNode"
+  EXECUTABLE autoware_obstacle_cruise_planner
 )
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-    test/test_${PROJECT_NAME}_node_interface.cpp
+    test/test_obstacle_cruise_planner_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
-  obstacle_cruise_planner_core
+  autoware_obstacle_cruise_planner_core
   )
 endif()
 

planning/obstacle_cruise_planner/README.md → planning/autoware_obstacle_cruise_planner/README.md

@@ -2,7 +2,7 @@
 
 ## Overview
 
-The `obstacle_cruise_planner` package has following modules.
+The `autoware_obstacle_cruise_planner` package has following modules.
 
 - Stop planning
   - stop when there is a static obstacle near the trajectory.
@@ -286,7 +286,7 @@ The calculated velocity is inserted in the trajectory where the obstacle is insi
 
 ### Flowchart
 
-Successive functions consist of `obstacle_cruise_planner` as follows.
+Successive functions consist of `autoware_obstacle_cruise_planner` as follows.
 
 Various algorithms for stop and cruise planning will be implemented, and one of them is designated depending on the use cases.
 The core algorithm implementation `generateTrajectory` depends on the designated algorithm.
@@ -380,9 +380,9 @@ under construction
 ### Prioritization of behavior module's stop point
 
 When stopping for a pedestrian walking on the crosswalk, the behavior module inserts the zero velocity in the trajectory in front of the crosswalk.
-Also `obstacle_cruise_planner`'s stop planning also works, and the ego may not reach the behavior module's stop point since the safe distance defined in `obstacle_cruise_planner` may be longer than the behavior module's safe distance.
-To resolve this non-alignment of the stop point between the behavior module and `obstacle_cruise_planner`, `common.min_behavior_stop_margin` is defined.
-In the case of the crosswalk described above, `obstacle_cruise_planner` inserts the stop point with a distance `common.min_behavior_stop_margin` at minimum between the ego and obstacle.
+Also `autoware_obstacle_cruise_planner`'s stop planning also works, and the ego may not reach the behavior module's stop point since the safe distance defined in `autoware_obstacle_cruise_planner` may be longer than the behavior module's safe distance.
+To resolve this non-alignment of the stop point between the behavior module and `autoware_obstacle_cruise_planner`, `common.min_behavior_stop_margin` is defined.
+In the case of the crosswalk described above, `autoware_obstacle_cruise_planner` inserts the stop point with a distance `common.min_behavior_stop_margin` at minimum between the ego and obstacle.
 
 | Parameter                         | Type   | Description                                                            |
 | --------------------------------- | ------ | ---------------------------------------------------------------------- |

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/common_structs.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
 
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/ros/uuid_helper.hpp"
@@ -302,4 +302,4 @@ struct EgoNearestParam
   double yaw_threshold;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/node.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__NODE_HPP_
-#define OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
 
-#include "obstacle_cruise_planner/common_structs.hpp"
-#include "obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
-#include "obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
+#include "autoware_obstacle_cruise_planner/common_structs.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
@@ -36,7 +36,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace motion_planning
+namespace autoware::motion_planning
 {
 class ObstacleCruisePlannerNode : public rclcpp::Node
 {
@@ -278,6 +278,6 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace motion_planning
+}  // namespace autoware::motion_planning
 
-#endif  // OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
 
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
+#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
-#include "obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
-#include "obstacle_cruise_planner/planner_interface.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -117,5 +117,6 @@ class OptimizationBasedPlanner : public PlannerInterface
   double engage_exit_ratio_;
   double stop_dist_to_prohibit_engage_;
 };
-
-#endif  // OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_
+// clang-format off
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+// clang-format on

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
-#define OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
 
 #include <limits>
 #include <vector>
@@ -30,4 +30,4 @@ class SBoundary
 
 using SBoundaries = std::vector<SBoundary>;
 
-#endif  // OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp

@@ -11,10 +11,10 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
 
-#include "obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
+#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
 #include "osqp_interface/osqp_interface.hpp"
 
 #include <vector>
@@ -72,4 +72,4 @@ class VelocityOptimizer
   autoware::common::osqp::OSQPInterface qp_solver_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -94,4 +94,4 @@ class CruisePlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
 
-#include "obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
-#include "obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
-#include "obstacle_cruise_planner/planner_interface.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
+#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
+#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 
 #include "visualization_msgs/msg/marker_array.hpp"
@@ -137,4 +137,4 @@ class PIDBasedPlanner : public PlannerInterface
   std::function<double(double)> error_func_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/pid_based_planner/pid_controller.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
 
 #include <optional>
 
@@ -59,4 +59,4 @@ class PIDController
   std::optional<double> prev_error_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/planner_interface.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
-#define OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
 
+#include "autoware_obstacle_cruise_planner/common_structs.hpp"
+#include "autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
+#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "obstacle_cruise_planner/common_structs.hpp"
-#include "obstacle_cruise_planner/stop_planning_debug_info.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
-#include "obstacle_cruise_planner/utils.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
@@ -425,4 +425,4 @@ class PlannerInterface
     std::nullopt};
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/polygon_utils.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
 
+#include "autoware_obstacle_cruise_planner/common_structs.hpp"
+#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "obstacle_cruise_planner/common_structs.hpp"
-#include "obstacle_cruise_planner/type_alias.hpp"
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 
 #include <boost/geometry.hpp>
@@ -52,4 +52,4 @@ std::vector<PointWithStamp> getCollisionPoints(
 
 }  // namespace polygon_utils
 
-#endif  // OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/stop_planning_debug_info.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
-#define OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -85,4 +85,4 @@ class StopPlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/type_alias.hpp → planning/autoware_obstacle_cruise_planner/include/autoware_obstacle_cruise_planner/type_alias.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
-#define OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
 
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
@@ -63,4 +63,4 @@ namespace bg = boost::geometry;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 
-#endif  // OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_