style(pre-commit): autofix

common/autoware_interpolation/package.xml

@@ -11,8 +11,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>eigen</depend>
   <depend>autoware_utils</depend>
+  <depend>eigen</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

common/autoware_interpolation/src/spline_interpolation_points_2d.cpp

@@ -89,8 +89,7 @@ geometry_msgs::msg::Pose SplineInterpolationPoints2d::getSplineInterpolatedPose(
 {
   geometry_msgs::msg::Pose pose;
   pose.position = getSplineInterpolatedPoint(idx, s);
-  pose.orientation =
-    autoware_utils::create_quaternion_from_yaw(getSplineInterpolatedYaw(idx, s));
+  pose.orientation = autoware_utils::create_quaternion_from_yaw(getSplineInterpolatedYaw(idx, s));
   return pose;
 }
 

common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp

@@ -200,8 +200,8 @@ TEST(spline_interpolation, SplineInterpolationPoints2d)
 
 TEST(spline_interpolation, SplineInterpolationPoints2dPolymorphism)
 {
-  using autoware_utils::create_point;
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_utils::create_point;
 
   std::vector<geometry_msgs::msg::Point> points;
   points.push_back(create_point(-2.0, -10.0, 0.0));

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

@@ -19,11 +19,11 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_planning_msgs/msg/control_point.hpp>
-#include <autoware_planning_msgs/msg/path_point.hpp>
 #include <autoware_internal_planning_msgs/msg/path_point_with_lane_id.hpp>
 #include <autoware_internal_planning_msgs/msg/planning_factor.hpp>
 #include <autoware_internal_planning_msgs/msg/planning_factor_array.hpp>
 #include <autoware_internal_planning_msgs/msg/safety_factor_array.hpp>
+#include <autoware_planning_msgs/msg/path_point.hpp>
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
@@ -209,10 +209,11 @@ class PlanningFactorInterface
   std::vector<PlanningFactor> factors_;
 };
 
-extern template void PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
-  const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double,
-  const std::string &);
+extern template void
+PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &,
+  const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,
+  const double, const std::string &);
 extern template void PlanningFactorInterface::add<autoware_planning_msgs::msg::PathPoint>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> &, const Pose &, const Pose &,
   const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double,
@@ -222,10 +223,11 @@ extern template void PlanningFactorInterface::add<autoware_planning_msgs::msg::T
   const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double,
   const std::string &);
 
-extern template void PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
-  const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,
-  const double, const std::string &);
+extern template void
+PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &,
+  const Pose &, const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool,
+  const double, const double, const std::string &);
 extern template void PlanningFactorInterface::add<autoware_planning_msgs::msg::PathPoint>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> &, const Pose &, const Pose &,
   const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,

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

@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 #define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 
-#include "autoware_planning_msgs/msg/path.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 <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

@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 
-#include "autoware_planning_msgs/msg/detail/path__struct.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"

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

@@ -23,8 +23,8 @@
 #include <Eigen/Geometry>
 #include <rclcpp/logging.hpp>
 
-#include <autoware_planning_msgs/msg/path_point.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 <algorithm>
@@ -358,8 +358,8 @@ std::optional<size_t> findNearestIndex(
       continue;
     }
 
-    const auto yaw = autoware_utils::calc_yaw_deviation(
-      autoware_utils::get_pose(points.at(i)), pose);
+    const auto yaw =
+      autoware_utils::calc_yaw_deviation(autoware_utils::get_pose(points.at(i)), pose);
     if (std::fabs(yaw) > max_yaw) {
       continue;
     }
@@ -463,8 +463,8 @@ 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>>(
+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);
@@ -785,8 +785,8 @@ 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>>(
+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>
@@ -939,7 +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);
@@ -1035,7 +1036,8 @@ extern template std::vector<std::pair<double, std::pair<double, double>>>
 calc_curvatureAndSegmentLength<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>>>
-calc_curvatureAndSegmentLength<std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId>>(
+calc_curvatureAndSegmentLength<
+  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>>>
 calc_curvatureAndSegmentLength<std::vector<autoware_planning_msgs::msg::TrajectoryPoint>>(
@@ -2090,8 +2092,8 @@ size_t findFirstNearestIndexWithSoftConstraints(
     for (size_t i = 0; i < points.size(); ++i) {
       const auto squared_dist =
         autoware_utils::calc_squared_distance2d(points.at(i), pose.position);
-      const auto yaw = autoware_utils::calc_yaw_deviation(
-        autoware_utils::get_pose(points.at(i)), pose);
+      const auto yaw =
+        autoware_utils::calc_yaw_deviation(autoware_utils::get_pose(points.at(i)), pose);
 
       if (squared_dist_threshold < squared_dist || yaw_threshold < std::abs(yaw)) {
         if (is_within_constraints) {
@@ -2276,8 +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());

common/autoware_motion_utils/package.xml

@@ -23,9 +23,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>

common/autoware_motion_utils/src/factor/planing_factor_interface.cpp

@@ -19,10 +19,11 @@
 
 namespace autoware::motion_utils
 {
-template void PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
-  const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double,
-  const std::string &);
+template void
+PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &,
+  const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,
+  const double, const std::string &);
 template void PlanningFactorInterface::add<autoware_planning_msgs::msg::PathPoint>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> &, const Pose &, const Pose &,
   const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double,
@@ -32,10 +33,11 @@ template void PlanningFactorInterface::add<autoware_planning_msgs::msg::Trajecto
   const uint16_t behavior, const SafetyFactorArray &, const bool, const double, const double,
   const std::string &);
 
-template void PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
-  const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,
-  const double, const std::string &);
+template void
+PlanningFactorInterface::add<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &,
+  const Pose &, const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool,
+  const double, const double, const std::string &);
 template void PlanningFactorInterface::add<autoware_planning_msgs::msg::PathPoint>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> &, const Pose &, const Pose &,
   const Pose &, const uint16_t behavior, const SafetyFactorArray &, const bool, const double,

common/autoware_motion_utils/src/factor/velocity_factor_interface.cpp

@@ -15,8 +15,8 @@
 #include <autoware/motion_utils/factor/velocity_factor_interface.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 
-#include <autoware_planning_msgs/msg/path_point.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 <string>
@@ -48,9 +48,10 @@ void VelocityFactorInterface::set(
   velocity_factor_.detail = detail;
 }
 
-template void VelocityFactorInterface::set<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
-  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &, const Pose &,
-  const VelocityFactorStatus, const std::string &);
+template void
+VelocityFactorInterface::set<autoware_internal_planning_msgs::msg::PathPointWithLaneId>(
+  const std::vector<autoware_internal_planning_msgs::msg::PathPointWithLaneId> &, const Pose &,
+  const Pose &, const VelocityFactorStatus, const std::string &);
 template void VelocityFactorInterface::set<autoware_planning_msgs::msg::PathPoint>(
   const std::vector<autoware_planning_msgs::msg::PathPoint> &, const Pose &, const Pose &,
   const VelocityFactorStatus, const std::string &);

common/autoware_motion_utils/src/resample/resample.cpp

@@ -148,8 +148,7 @@ std::vector<geometry_msgs::msg::Pose> resamplePoseVector(
     resampled_points.at(i) = pose;
   }
 
-  const bool is_driving_forward =
-    autoware_utils::is_driving_forward(points.at(0), points.at(1));
+  const bool is_driving_forward = autoware_utils::is_driving_forward(points.at(0), points.at(1));
   autoware::motion_utils::insertOrientation(resampled_points, is_driving_forward);
 
   // Initial orientation is depend on the initial value of the resampled_arclength
@@ -264,8 +263,7 @@ autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
   for (size_t i = 1; i < input_path.points.size(); ++i) {
     const auto & prev_pt = input_path.points.at(i - 1).point;
     const auto & curr_pt = input_path.points.at(i).point;
-    const double ds =
-      autoware_utils::calc_distance2d(prev_pt.pose.position, curr_pt.pose.position);
+    const double ds = autoware_utils::calc_distance2d(prev_pt.pose.position, curr_pt.pose.position);
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);
     v_lon.push_back(curr_pt.longitudinal_velocity_mps);
@@ -360,8 +358,8 @@ 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
@@ -455,8 +453,7 @@ autoware_planning_msgs::msg::Path resamplePath(
   for (size_t i = 1; i < input_path.points.size(); ++i) {
     const auto & prev_pt = input_path.points.at(i - 1);
     const auto & curr_pt = input_path.points.at(i);
-    const double ds =
-      autoware_utils::calc_distance2d(prev_pt.pose.position, curr_pt.pose.position);
+    const double ds = autoware_utils::calc_distance2d(prev_pt.pose.position, curr_pt.pose.position);
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);
     v_lon.push_back(curr_pt.longitudinal_velocity_mps);
@@ -612,8 +609,7 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
   for (size_t i = 1; i < input_trajectory.points.size(); ++i) {
     const auto & prev_pt = input_trajectory.points.at(i - 1);
     const auto & curr_pt = input_trajectory.points.at(i);
-    const double ds =
-      autoware_utils::calc_distance2d(prev_pt.pose.position, curr_pt.pose.position);
+    const double ds = autoware_utils::calc_distance2d(prev_pt.pose.position, curr_pt.pose.position);
 
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);

common/autoware_motion_utils/src/trajectory/interpolation.cpp

@@ -57,8 +57,7 @@ TrajectoryPoint calcInterpolatedPoint(
   TrajectoryPoint interpolated_point{};
 
   // pose interpolation
-  interpolated_point.pose =
-    autoware_utils::calc_interpolated_pose(curr_pt, next_pt, clamped_ratio);
+  interpolated_point.pose = autoware_utils::calc_interpolated_pose(curr_pt, next_pt, clamped_ratio);
 
   // twist interpolation
   if (use_zero_order_hold_for_twist) {

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);