style(pre-commit): autofix

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

@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 #define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 
+#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <vector>
 
@@ -137,9 +137,10 @@ autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
  * @return resampled path
  */
 autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
-  const autoware_internal_planning_msgs::msg::PathWithLaneId & input_path, const double resample_interval,
-  const bool use_akima_spline_for_xy = false, const bool use_lerp_for_z = true,
-  const bool use_zero_order_hold_for_v = true, const bool resample_input_path_stop_point = true);
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & input_path,
+  const double resample_interval, const bool use_akima_spline_for_xy = false,
+  const bool use_lerp_for_z = true, const bool use_zero_order_hold_for_v = true,
+  const bool resample_input_path_stop_point = true);
 
 /**
  * @brief A resampling function for a path. Note that in a default setting, position xy are

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

@@ -15,11 +15,11 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 
+#include "autoware_internal_planning_msgs/msg/detail/path_with_lane_id__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/path__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/trajectory__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/trajectory_point__struct.hpp"
 #include "std_msgs/msg/header.hpp"
-#include "autoware_internal_planning_msgs/msg/detail/path_with_lane_id__struct.hpp"
 
 #include <vector>
 
@@ -95,7 +95,8 @@ inline TrajectoryPoints convertToTrajectoryPoints(
 }
 
 template <class T>
-autoware_internal_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId([[maybe_unused]] const T & input)
+autoware_internal_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
+  [[maybe_unused]] const T & input)
 {
   static_assert(sizeof(T) == 0, "Only specializations of convertToPathWithLaneId can be used.");
   throw std::logic_error("Only specializations of convertToPathWithLaneId can be used.");

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

@@ -17,8 +17,8 @@
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 
-#include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
+#include "autoware_planning_msgs/msg/trajectory.hpp"
 
 #include <boost/optional.hpp>
 

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

@@ -26,12 +26,12 @@ std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
   const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
 
 size_t findNearestIndexFromLaneId(
-  const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Point & pos,
-  const int64_t lane_id);
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
+  const geometry_msgs::msg::Point & pos, const int64_t lane_id);
 
 size_t findNearestSegmentIndexFromLaneId(
-  const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Point & pos,
-  const int64_t lane_id);
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
+  const geometry_msgs::msg::Point & pos, const int64_t lane_id);
 
 // @brief Calculates the path to be followed by the rear wheel center in order to make the vehicle
 // center follow the input path

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

@@ -23,9 +23,9 @@
 #include <Eigen/Geometry>
 #include <rclcpp/logging.hpp>
 
+#include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <autoware_planning_msgs/msg/path_point.hpp>
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
-#include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 
 #include <algorithm>
 #include <limits>
@@ -58,7 +58,8 @@ void validateNonEmpty(const T & points)
 
 extern template void validateNonEmpty<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> &);
-extern template void validateNonEmpty<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template void
+validateNonEmpty<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &);
 extern template void validateNonEmpty<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> &);
@@ -311,7 +312,8 @@ size_t findNearestIndex(const T & points, const geometry_msgs::msg::Point & poin
 extern template size_t findNearestIndex<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points,
   const geometry_msgs::msg::Point & point);
-extern template size_t findNearestIndex<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template size_t
+findNearestIndex<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
   const geometry_msgs::msg::Point & point);
 extern template size_t findNearestIndex<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
@@ -461,10 +463,11 @@ extern template double
 calcLongitudinalOffsetToSegment<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points, const size_t seg_idx,
   const geometry_msgs::msg::Point & p_target, const bool throw_exception = false);
-extern template double
-calcLongitudinalOffsetToSegment<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t seg_idx,
-  const geometry_msgs::msg::Point & p_target, const bool throw_exception = false);
+extern template double calcLongitudinalOffsetToSegment<
+  std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t seg_idx, const geometry_msgs::msg::Point & p_target,
+  const bool throw_exception = false);
 extern template double
 calcLongitudinalOffsetToSegment<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t seg_idx,
@@ -734,8 +737,8 @@ extern template double calcSignedArcLength<std::vector<autoware_planning_msgs::m
   const size_t dst_idx);
 extern template double
 calcSignedArcLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t src_idx,
-  const size_t dst_idx);
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t src_idx, const size_t dst_idx);
 extern template double
 calcSignedArcLength<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t src_idx,
@@ -782,10 +785,10 @@ extern template std::vector<double>
 calcSignedArcLengthPartialSum<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points, const size_t src_idx,
   const size_t dst_idx);
-extern template std::vector<double>
-calcSignedArcLengthPartialSum<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t src_idx,
-  const size_t dst_idx);
+extern template std::vector<double> calcSignedArcLengthPartialSum<
+  std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t src_idx, const size_t dst_idx);
 extern template std::vector<double>
 calcSignedArcLengthPartialSum<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t src_idx,
@@ -862,8 +865,8 @@ extern template double calcSignedArcLength<std::vector<autoware_planning_msgs::m
   const geometry_msgs::msg::Point & dst_point);
 extern template double
 calcSignedArcLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t src_idx,
-  const geometry_msgs::msg::Point & dst_point);
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t src_idx, const geometry_msgs::msg::Point & dst_point);
 extern template double
 calcSignedArcLength<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t src_idx,
@@ -936,7 +939,8 @@ double calcArcLength(const T & points)
 
 extern template double calcArcLength<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points);
-extern template double calcArcLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template double
+calcArcLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points);
 extern template double calcArcLength<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points);
@@ -1032,7 +1036,8 @@ extern template std::vector<std::pair<double, std::pair<double, double>>>
 calcCurvatureAndSegmentLength<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points);
 extern template std::vector<std::pair<double, std::pair<double, double>>>
-calcCurvatureAndSegmentLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+calcCurvatureAndSegmentLength<
+  std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points);
 extern template std::vector<std::pair<double, std::pair<double, double>>>
 calcCurvatureAndSegmentLength<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
@@ -1147,8 +1152,8 @@ calcLongitudinalOffsetPoint<std::vector<autoware_planning_msgs::msg::PathPoint>>
   const double offset, const bool throw_exception = false);
 extern template std::optional<geometry_msgs::msg::Point>
 calcLongitudinalOffsetPoint<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t src_idx,
-  const double offset, const bool throw_exception = false);
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t src_idx, const double offset, const bool throw_exception = false);
 extern template std::optional<geometry_msgs::msg::Point>
 calcLongitudinalOffsetPoint<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t src_idx,
@@ -1293,9 +1298,9 @@ calcLongitudinalOffsetPose<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const bool throw_exception = false);
 extern template std::optional<geometry_msgs::msg::Pose>
 calcLongitudinalOffsetPose<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t src_idx,
-  const double offset, const bool set_orientation_from_position_direction = true,
-  const bool throw_exception = false);
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t src_idx, const double offset,
+  const bool set_orientation_from_position_direction = true, const bool throw_exception = false);
 extern template std::optional<geometry_msgs::msg::Pose>
 calcLongitudinalOffsetPose<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t src_idx,
@@ -1906,7 +1911,8 @@ void insertOrientation(T & points, const bool is_driving_forward)
 
 extern template void insertOrientation<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   std::vector<autoware_planning_msgs::msg::PathPoint> & points, const bool is_driving_forward);
-extern template void insertOrientation<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template void
+insertOrientation<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
   const bool is_driving_forward);
 extern template void insertOrientation<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
@@ -2051,8 +2057,8 @@ extern template double calcSignedArcLength<std::vector<autoware_planning_msgs::m
   const geometry_msgs::msg::Point & dst_point, const size_t dst_seg_idx);
 extern template double
 calcSignedArcLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points, const size_t src_idx,
-  const geometry_msgs::msg::Point & dst_point, const size_t dst_seg_idx);
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
+  const size_t src_idx, const geometry_msgs::msg::Point & dst_point, const size_t dst_seg_idx);
 extern template double
 calcSignedArcLength<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points, const size_t src_idx,
@@ -2272,8 +2278,8 @@ calcDistanceToForwardStopPoint<std::vector<autoware_planning_msgs::msg::PathPoin
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points_with_twist,
   const geometry_msgs::msg::Pose & pose, const double max_dist = std::numeric_limits<double>::max(),
   const double max_yaw = std::numeric_limits<double>::max());
-extern template std::optional<double>
-calcDistanceToForwardStopPoint<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template std::optional<double> calcDistanceToForwardStopPoint<
+  std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points_with_twist,
   const geometry_msgs::msg::Pose & pose, const double max_dist = std::numeric_limits<double>::max(),
   const double max_yaw = std::numeric_limits<double>::max());
@@ -2460,7 +2466,8 @@ double calcYawDeviation(
 extern template double calcYawDeviation<std::vector<autoware_planning_msgs::msg::PathPoint>>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points,
   const geometry_msgs::msg::Pose & pose, const bool throw_exception = false);
-extern template double calcYawDeviation<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template double
+calcYawDeviation<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
   const geometry_msgs::msg::Pose & pose, const bool throw_exception = false);
 extern template double calcYawDeviation<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
@@ -2495,7 +2502,8 @@ extern template bool isTargetPointFront<std::vector<autoware_planning_msgs::msg:
   const std::vector<autoware_planning_msgs::msg::PathPoint> & points,
   const geometry_msgs::msg::Point & base_point, const geometry_msgs::msg::Point & target_point,
   const double threshold = 0.0);
-extern template bool isTargetPointFront<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+extern template bool
+isTargetPointFront<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
   const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> & points,
   const geometry_msgs::msg::Point & base_point, const geometry_msgs::msg::Point & target_point,
   const double threshold = 0.0);

common/autoware_motion_utils/package.xml

@@ -22,8 +22,8 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_interpolation</depend>
   <depend>autoware_internal_planning_msgs</depend>
+  <depend>autoware_interpolation</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>

common/autoware_motion_utils/src/resample/resample.cpp

@@ -360,8 +360,8 @@ autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
 }
 
 autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
-  const autoware_internal_planning_msgs::msg::PathWithLaneId & input_path, const double resample_interval,
-  const bool use_akima_spline_for_xy, const bool use_lerp_for_z,
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & input_path,
+  const double resample_interval, const bool use_akima_spline_for_xy, const bool use_lerp_for_z,
   const bool use_zero_order_hold_for_v, const bool resample_input_path_stop_point)
 {
   // validate arguments

common/autoware_motion_utils/src/trajectory/interpolation.cpp

@@ -17,10 +17,10 @@
 #include "autoware/interpolation/linear_interpolation.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
 
-using autoware_planning_msgs::msg::Trajectory;
-using autoware_planning_msgs::msg::TrajectoryPoint;
 using autoware_internal_planning_msgs::msg::PathPointWithLaneId;
 using autoware_internal_planning_msgs::msg::PathWithLaneId;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_planning_msgs::msg::TrajectoryPoint;
 
 namespace autoware::motion_utils
 {

common/autoware_motion_utils/src/trajectory/path_with_lane_id.cpp

@@ -56,8 +56,8 @@ std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
 }
 
 size_t findNearestIndexFromLaneId(
-  const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Point & pos,
-  const int64_t lane_id)
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
+  const geometry_msgs::msg::Point & pos, const int64_t lane_id)
 {
   const auto opt_range = getPathIndexRangeWithLaneId(path, lane_id);
   if (opt_range) {
@@ -77,8 +77,8 @@ size_t findNearestIndexFromLaneId(
 }
 
 size_t findNearestSegmentIndexFromLaneId(
-  const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Point & pos,
-  const int64_t lane_id)
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
+  const geometry_msgs::msg::Point & pos, const int64_t lane_id)
 {
   const size_t nearest_idx = findNearestIndexFromLaneId(path, pos, lane_id);