Merge branch 'main' into ground-segmentation

autowarefoundation · Dec 27, 2023 · c6943c4 · c6943c4
2 parents 27639f0 + a04f825
commit c6943c4
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -79,7 +79,7 @@ evaluator/planning_evaluator/** [email protected] [email protected]
 launch/tier4_autoware_api_launch/** [email protected] [email protected] [email protected] [email protected]
 launch/tier4_control_launch/** [email protected] [email protected]
 launch/tier4_localization_launch/** [email protected] [email protected] [email protected] [email protected]
-launch/tier4_map_launch/** [email protected] [email protected] [email protected]
+launch/tier4_map_launch/** [email protected] [email protected] [email protected] [email protected]
 launch/tier4_perception_launch/** [email protected] [email protected] [email protected]
 launch/tier4_planning_launch/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 launch/tier4_sensing_launch/** [email protected]
@@ -105,10 +105,10 @@ localization/yabloc/yabloc_image_processing/** [email protected] masahir
 localization/yabloc/yabloc_monitor/** [email protected] [email protected] [email protected]
 localization/yabloc/yabloc_particle_filter/** [email protected] [email protected]
 localization/yabloc/yabloc_pose_initializer/** [email protected] [email protected]
-map/map_height_fitter/** [email protected] [email protected] [email protected]
-map/map_loader/** [email protected] [email protected] [email protected] [email protected]
-map/map_projection_loader/** [email protected] [email protected] [email protected]
-map/map_tf_generator/** azumi.suzuki@tier4.jp
+map/map_height_fitter/** [email protected] [email protected] [email protected] [email protected]
+map/map_loader/** [email protected] [email protected] [email protected] [email protected] [email protected]
+map/map_projection_loader/** [email protected] [email protected] [email protected] [email protected]
+map/map_tf_generator/** [email protected] [email protected] yamato.ando@tier4.jp
 map/util/lanelet2_map_preprocessor/** [email protected]
 perception/bytetrack/** [email protected]
 perception/cluster_merger/** [email protected] [email protected] [email protected]
@@ -122,7 +122,7 @@ perception/euclidean_cluster/** [email protected]
 perception/front_vehicle_velocity_estimator/** [email protected] [email protected]
 perception/ground_segmentation/** [email protected] [email protected] [email protected] [email protected]
 perception/heatmap_visualizer/** [email protected]
-perception/image_projection_based_fusion/** [email protected] [email protected] [email protected] [email protected] [email protected]
+perception/image_projection_based_fusion/** [email protected] [email protected] shunsuke.miura@tier4.jp tao.zhong@tier4.jp [email protected] [email protected] [email protected]
 perception/lidar_apollo_instance_segmentation/** [email protected]
 perception/lidar_apollo_segmentation_tvm/** [email protected] [email protected]
 perception/lidar_apollo_segmentation_tvm_nodes/** [email protected] [email protected]
@@ -156,13 +156,15 @@ perception/traffic_light_ssd_fine_detector/** [email protected]
 perception/traffic_light_visualization/** [email protected]
 planning/behavior_path_avoidance_by_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_avoidance_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/behavior_path_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_side_shift_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_start_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_blind_spot_module/** [email protected] [email protected] [email protected]
-planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/behavior_velocity_crosswalk_module/** [email protected] [email protected] [email protected] [email protected] [email protected] tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
 planning/behavior_velocity_detection_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_intersection_module/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_no_drivable_lane_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
@@ -186,7 +188,7 @@ planning/mission_planner/** [email protected] [email protected] ryohs
 planning/motion_velocity_smoother/** [email protected] [email protected] [email protected]
 planning/objects_of_interest_marker_interface/** [email protected] [email protected] [email protected]
 planning/obstacle_avoidance_planner/** [email protected] [email protected] [email protected]
-planning/obstacle_cruise_planner/** [email protected] [email protected] [email protected]
+planning/obstacle_cruise_planner/** [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_stop_planner/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/obstacle_velocity_limiter/** [email protected]
 planning/path_smoother/** [email protected] [email protected]
@@ -226,13 +228,13 @@ system/default_ad_api/** [email protected] [email protected] makoto.yabut
 system/default_ad_api_helpers/ad_api_adaptors/** [email protected] [email protected] [email protected] [email protected] [email protected]
 system/default_ad_api_helpers/ad_api_visualizers/** [email protected] [email protected] [email protected] [email protected] [email protected]
 system/default_ad_api_helpers/automatic_pose_initializer/** [email protected] [email protected] [email protected] [email protected] [email protected]
+system/diagnostic_graph_aggregator/** [email protected]
 system/dummy_diag_publisher/** [email protected] [email protected]
 system/dummy_infrastructure/** [email protected]
 system/duplicated_node_checker/** [email protected] [email protected]
 system/emergency_handler/** [email protected]
 system/mrm_comfortable_stop_operator/** [email protected] [email protected]
 system/mrm_emergency_stop_operator/** [email protected] [email protected]
-system/system_diagnostic_graph/** [email protected]
 system/system_error_monitor/** [email protected]
 system/system_monitor/** [email protected] [email protected]
 system/topic_state_monitor/** [email protected]

diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt
@@ -5,9 +5,9 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  include/geometry/spatial_hash.hpp
-  include/geometry/intersection.hpp
-  include/geometry/spatial_hash_config.hpp
+  include/autoware_auto_geometry/spatial_hash.hpp
+  include/autoware_auto_geometry/intersection.hpp
+  include/autoware_auto_geometry/spatial_hash_config.hpp
   src/spatial_hash.cpp
   src/bounding_box.cpp
 )

diff --git a/common/autoware_auto_geometry/design/interval.md b/common/autoware_auto_geometry/design/interval.md
@@ -39,7 +39,7 @@ See 'Example Usage' below.
 ## Example Usage
 
 ```c++
-#include "geometry/interval.hpp"
+#include "autoware_auto_geometry/interval.hpp"
 
 #include <iostream>
 

diff --git a/...etry/bounding_box/bounding_box_common.hpp → ...etry/bounding_box/bounding_box_common.hpp b/...etry/bounding_box/bounding_box_common.hpp → ...etry/bounding_box/bounding_box_common.hpp
@@ -17,11 +17,11 @@
 /// \file
 /// \brief Common functionality for bounding box computation algorithms
 
-#ifndef GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
-#define GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
 
-#include <geometry/common_2d.hpp>
-#include <geometry/visibility_control.hpp>
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/visibility_control.hpp"
 
 #include <autoware_auto_perception_msgs/msg/bounding_box.hpp>
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
@@ -185,4 +185,4 @@ std::vector<geometry_msgs::msg::Point32> GEOMETRY_PUBLIC get_transformed_corners
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_
diff --git a/...ude/geometry/bounding_box/eigenbox_2d.hpp → ...uto_geometry/bounding_box/eigenbox_2d.hpp b/...ude/geometry/bounding_box/eigenbox_2d.hpp → ...uto_geometry/bounding_box/eigenbox_2d.hpp
@@ -19,10 +19,10 @@
 ///        bounding box
 
 // cspell: ignore eigenbox, EIGENBOX
-#ifndef GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
-#define GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
 
-#include <geometry/bounding_box/bounding_box_common.hpp>
+#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp"
 
 #include <limits>
 #include <utility>
@@ -244,4 +244,4 @@ BoundingBox eigenbox_2d(const IT begin, const IT end)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_
diff --git a/...ry/include/geometry/bounding_box/lfit.hpp → ...oware_auto_geometry/bounding_box/lfit.hpp b/...ry/include/geometry/bounding_box/lfit.hpp → ...oware_auto_geometry/bounding_box/lfit.hpp
@@ -20,10 +20,10 @@
 
 // cspell: ignore LFIT, lfit
 // LFIT means "L-Shape Fitting"
-#ifndef GEOMETRY__BOUNDING_BOX__LFIT_HPP_
-#define GEOMETRY__BOUNDING_BOX__LFIT_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_
 
-#include <geometry/bounding_box/eigenbox_2d.hpp>
+#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp"
 
 #include <limits>
 #include <utility>
@@ -278,4 +278,4 @@ BoundingBox lfit_bounding_box_2d(const IT begin, const IT end)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__BOUNDING_BOX__LFIT_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_
diff --git a/...ometry/bounding_box/rotating_calipers.hpp → ...ometry/bounding_box/rotating_calipers.hpp b/...ometry/bounding_box/rotating_calipers.hpp → ...ometry/bounding_box/rotating_calipers.hpp
@@ -17,11 +17,11 @@
 /// \file
 /// \brief This file implements the rotating calipers algorithm for minimum oriented bounding boxes
 
-#ifndef GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
-#define GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
-#include <geometry/bounding_box/bounding_box_common.hpp>
-#include <geometry/common_2d.hpp>
-#include <geometry/convex_hull.hpp>
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
+#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp"
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/convex_hull.hpp"
 
 #include <algorithm>
 #include <cstring>
@@ -277,4 +277,4 @@ BoundingBox minimum_perimeter_bounding_box(std::list<PointT> & list)
 }  // namespace geometry
 }  // namespace common
 }  // namespace autoware
-#endif  // GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_
diff --git a/...etry/include/geometry/bounding_box_2d.hpp → ...utoware_auto_geometry/bounding_box_2d.hpp b/...etry/include/geometry/bounding_box_2d.hpp → ...utoware_auto_geometry/bounding_box_2d.hpp
@@ -15,12 +15,12 @@
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 /// \file
 /// \brief Main header for user-facing bounding box algorithms: functions and types
-#ifndef GEOMETRY__BOUNDING_BOX_2D_HPP_
-#define GEOMETRY__BOUNDING_BOX_2D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_
 
-#include <geometry/bounding_box/eigenbox_2d.hpp>
-#include <geometry/bounding_box/lfit.hpp>
-#include <geometry/bounding_box/rotating_calipers.hpp>
+#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp"
+#include "autoware_auto_geometry/bounding_box/lfit.hpp"
+#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp"
 
 namespace autoware
 {
@@ -31,4 +31,4 @@ namespace geometry
 }  // namespace geometry
 }  // namespace common
 }  // namespace autoware
-#endif  // GEOMETRY__BOUNDING_BOX_2D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_
diff --git a/...o_geometry/include/geometry/common_2d.hpp → ...lude/autoware_auto_geometry/common_2d.hpp b/...o_geometry/include/geometry/common_2d.hpp → ...lude/autoware_auto_geometry/common_2d.hpp
@@ -16,10 +16,10 @@
 /// \file
 /// \brief This file includes common functionality for 2D geometry, such as dot products
 
-#ifndef GEOMETRY__COMMON_2D_HPP_
-#define GEOMETRY__COMMON_2D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_
 
-#include "geometry/interval.hpp"
+#include "autoware_auto_geometry/interval.hpp"
 
 #include <common/types.hpp>
 
@@ -584,4 +584,4 @@ bool is_point_inside_polygon_2d(
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__COMMON_2D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_
diff --git a/...o_geometry/include/geometry/common_3d.hpp → ...lude/autoware_auto_geometry/common_3d.hpp b/...o_geometry/include/geometry/common_3d.hpp → ...lude/autoware_auto_geometry/common_3d.hpp
@@ -16,10 +16,10 @@
 /// \file
 /// \brief This file includes common functionality for 3D geometry, such as dot products
 
-#ifndef GEOMETRY__COMMON_3D_HPP_
-#define GEOMETRY__COMMON_3D_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_
 
-#include <geometry/common_2d.hpp>
+#include "autoware_auto_geometry/common_2d.hpp"
 
 namespace autoware
 {
@@ -74,4 +74,4 @@ inline OUT distance_3d(const T1 & a, const T2 & b)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__COMMON_3D_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_
diff --git a/...geometry/include/geometry/convex_hull.hpp → ...de/autoware_auto_geometry/convex_hull.hpp b/...geometry/include/geometry/convex_hull.hpp → ...de/autoware_auto_geometry/convex_hull.hpp
@@ -18,11 +18,12 @@
 /// \brief This file implements the monotone chain algorithm to compute 2D convex hulls on linked
 ///        lists of points
 
-#ifndef GEOMETRY__CONVEX_HULL_HPP_
-#define GEOMETRY__CONVEX_HULL_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_
+
+#include "autoware_auto_geometry/common_2d.hpp"
 
 #include <common/types.hpp>
-#include <geometry/common_2d.hpp>
 
 // lint -e537 NOLINT pclint vs cpplint
 #include <algorithm>
@@ -191,4 +192,4 @@ typename std::list<PointT>::const_iterator convex_hull(std::list<PointT> & list)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__CONVEX_HULL_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_
diff --git a/...eometry/include/geometry/hull_pockets.hpp → ...e/autoware_auto_geometry/hull_pockets.hpp b/...eometry/include/geometry/hull_pockets.hpp → ...e/autoware_auto_geometry/hull_pockets.hpp
@@ -18,11 +18,12 @@
 /// \brief This file implements an algorithm for getting a list of "pockets" in the convex
 ///        hull of a non-convex simple polygon.
 
-#ifndef GEOMETRY__HULL_POCKETS_HPP_
-#define GEOMETRY__HULL_POCKETS_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_
+
+#include "autoware_auto_geometry/common_2d.hpp"
 
 #include <common/types.hpp>
-#include <geometry/common_2d.hpp>
 
 #include <algorithm>
 #include <iterator>
@@ -107,4 +108,4 @@ typename std::vector<std::vector<typename std::iterator_traits<Iter1>::value_typ
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__HULL_POCKETS_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_
diff --git a/...eometry/include/geometry/intersection.hpp → ...e/autoware_auto_geometry/intersection.hpp b/...eometry/include/geometry/intersection.hpp → ...e/autoware_auto_geometry/intersection.hpp
@@ -14,11 +14,11 @@
 //
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
-#ifndef GEOMETRY__INTERSECTION_HPP_
-#define GEOMETRY__INTERSECTION_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_
 
-#include <geometry/common_2d.hpp>
-#include <geometry/convex_hull.hpp>
+#include "autoware_auto_geometry/common_2d.hpp"
+#include "autoware_auto_geometry/convex_hull.hpp"
 
 #include <autoware_auto_perception_msgs/msg/bounding_box.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory_point.hpp>
@@ -309,4 +309,4 @@ common::types::float32_t convex_intersection_over_union_2d(
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__INTERSECTION_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_
diff --git a/...to_geometry/include/geometry/interval.hpp → ...clude/autoware_auto_geometry/interval.hpp b/...to_geometry/include/geometry/interval.hpp → ...clude/autoware_auto_geometry/interval.hpp
@@ -18,8 +18,8 @@
 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 // IN THE SOFTWARE.
 
-#ifndef GEOMETRY__INTERVAL_HPP_
-#define GEOMETRY__INTERVAL_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_
 
 #include "common/types.hpp"
 #include "helper_functions/float_comparisons.hpp"
@@ -355,4 +355,4 @@ T Interval<T>::clamp_to(const Interval & i, T val)
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__INTERVAL_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_
diff --git a/...eometry/include/geometry/lookup_table.hpp → ...e/autoware_auto_geometry/lookup_table.hpp b/...eometry/include/geometry/lookup_table.hpp → ...e/autoware_auto_geometry/lookup_table.hpp
@@ -17,11 +17,11 @@
 /// \file
 /// \brief This file contains a 1D linear lookup table implementation
 
-#ifndef GEOMETRY__LOOKUP_TABLE_HPP_
-#define GEOMETRY__LOOKUP_TABLE_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_
 
+#include "autoware_auto_geometry/interval.hpp"
 #include "common/types.hpp"
-#include "geometry/interval.hpp"
 
 #include <cmath>
 #include <stdexcept>
@@ -175,4 +175,4 @@ class LookupTable1D
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__LOOKUP_TABLE_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_
diff --git a/...eometry/include/geometry/spatial_hash.hpp → ...e/autoware_auto_geometry/spatial_hash.hpp b/...eometry/include/geometry/spatial_hash.hpp → ...e/autoware_auto_geometry/spatial_hash.hpp
@@ -17,12 +17,13 @@
 /// \brief This file implements a spatial hash for efficient fixed-radius near neighbor queries in
 ///        2D
 
-#ifndef GEOMETRY__SPATIAL_HASH_HPP_
-#define GEOMETRY__SPATIAL_HASH_HPP_
+#ifndef AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_
+#define AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_
+
+#include "autoware_auto_geometry/spatial_hash_config.hpp"
+#include "autoware_auto_geometry/visibility_control.hpp"
 
 #include <common/types.hpp>
-#include <geometry/spatial_hash_config.hpp>
-#include <geometry/visibility_control.hpp>
 
 #include <unordered_map>
 #include <utility>
@@ -328,4 +329,4 @@ using SpatialHash3d = SpatialHash<T, Config3d>;
 }  // namespace common
 }  // namespace autoware
 
-#endif  // GEOMETRY__SPATIAL_HASH_HPP_
+#endif  // AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_