Merge branch 'main' into fix/cppcheck_variableScope_per-2

.github/CODEOWNERS

@@ -86,7 +86,7 @@ localization/autoware_pose_covariance_modifier/** melike@leodrive.ai
 localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
-localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp

@@ -22,6 +22,7 @@
 
 #include <exception>
 #include <string>
+#include <utility>
 #include <vector>
 
 #define EIGEN_MPL2_ONLY
@@ -583,6 +584,148 @@ std::optional<geometry_msgs::msg::Point> intersect(
  */
 bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2);
 
+// Alternatives for Boost.Geometry ----------------------------------------------------------------
+
+// TODO(mitukou1109): remove namespace when migrating to alternatives
+namespace alt
+{
+class Vector2d
+{
+public:
+  Vector2d() : x_(0.0), y_(0.0) {}
+
+  Vector2d(const double x, const double y) : x_(x), y_(y) {}
+
+  double cross(const Vector2d & other) const { return x_ * other.y() - y_ * other.x(); }
+
+  double dot(const Vector2d & other) const { return x_ * other.x() + y_ * other.y(); }
+
+  double norm2() const { return x_ * x_ + y_ * y_; }
+
+  double norm() const { return std::sqrt(norm2()); }
+
+  Vector2d vector_triple(const Vector2d & v1, const Vector2d & v2) const
+  {
+    const auto tmp = this->cross(v1);
+    return {-v2.y() * tmp, v2.x() * tmp};
+  }
+
+  const double & x() const { return x_; }
+
+  double & x() { return x_; }
+
+  const double & y() const { return y_; }
+
+  double & y() { return y_; }
+
+private:
+  double x_;
+  double y_;
+};
+
+// We use Vector2d to represent points, but we do not name the class Point2d directly
+// as it has some vector operation functions.
+using Point2d = Vector2d;
+using Points2d = std::vector<Point2d>;
+
+class ConvexPolygon2d
+{
+public:
+  explicit ConvexPolygon2d(const Points2d & vertices)
+  {
+    if (vertices.size() < 3) {
+      throw std::invalid_argument("At least 3 points are required for vertices.");
+    }
+    vertices_ = vertices;
+  }
+
+  explicit ConvexPolygon2d(Points2d && vertices)
+  {
+    if (vertices.size() < 3) {
+      throw std::invalid_argument("At least 3 points are required for vertices.");
+    }
+    vertices_ = std::move(vertices);
+  }
+
+  const Points2d & vertices() const { return vertices_; }
+
+  Points2d & vertices() { return vertices_; }
+
+private:
+  Points2d vertices_;
+};
+
+inline Vector2d operator+(const Vector2d & v1, const Vector2d & v2)
+{
+  return {v1.x() + v2.x(), v1.y() + v2.y()};
+}
+
+inline Vector2d operator-(const Vector2d & v1, const Vector2d & v2)
+{
+  return {v1.x() - v2.x(), v1.y() - v2.y()};
+}
+
+inline Vector2d operator-(const Vector2d & v)
+{
+  return {-v.x(), -v.y()};
+}
+
+inline Vector2d operator*(const double & s, const Vector2d & v)
+{
+  return {s * v.x(), s * v.y()};
+}
+
+Point2d from_geom(const geometry_msgs::msg::Point & point);
+
+Point2d from_boost(const autoware::universe_utils::Point2d & point);
+
+ConvexPolygon2d from_boost(const autoware::universe_utils::Polygon2d & polygon);
+
+autoware::universe_utils::Point2d to_boost(const Point2d & point);
+
+autoware::universe_utils::Polygon2d to_boost(const ConvexPolygon2d & polygon);
+}  // namespace alt
+
+double area(const alt::ConvexPolygon2d & poly);
+
+alt::ConvexPolygon2d convex_hull(const alt::Points2d & points);
+
+void correct(alt::ConvexPolygon2d & poly);
+
+bool covered_by(const alt::Point2d & point, const alt::ConvexPolygon2d & poly);
+
+bool disjoint(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2);
+
+double distance(
+  const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end);
+
+double distance(const alt::Point2d & point, const alt::ConvexPolygon2d & poly);
+
+bool equals(const alt::Point2d & point1, const alt::Point2d & point2);
+
+bool equals(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2);
+
+bool intersects(
+  const alt::Point2d & seg1_start, const alt::Point2d & seg1_end, const alt::Point2d & seg2_start,
+  const alt::Point2d & seg2_end);
+
+bool intersects(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2);
+
+bool is_above(
+  const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end);
+
+bool is_clockwise(const alt::ConvexPolygon2d & poly);
+
+bool touches(
+  const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end);
+
+bool touches(const alt::Point2d & point, const alt::ConvexPolygon2d & poly);
+
+bool within(const alt::Point2d & point, const alt::ConvexPolygon2d & poly);
+
+bool within(
+  const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing);
+
 }  // namespace autoware::universe_utils
 
 #endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_

common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp

@@ -67,9 +67,9 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
   /**
    * @brief Get the parent node
    *
-   * @return std::shared_ptr<ProcessingTimeNode> Shared pointer to the parent node
+   * @return std::weak_ptr<ProcessingTimeNode> Weak pointer to the parent node
    */
-  std::shared_ptr<ProcessingTimeNode> get_parent_node() const;
+  std::weak_ptr<ProcessingTimeNode> get_parent_node() const;
 
   /**
    * @brief Get the child nodes
@@ -101,10 +101,10 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
   std::string get_name() const;
 
 private:
-  const std::string name_;                                    //!< Name of the node
-  double processing_time_{0.0};                               //!< Processing time of the node
-  std::string comment_;                                       //!< Comment for the node
-  std::shared_ptr<ProcessingTimeNode> parent_node_{nullptr};  //!< Shared pointer to the parent node
+  const std::string name_;                         //!< Name of the node
+  double processing_time_{0.0};                    //!< Processing time of the node
+  std::string comment_;                            //!< Comment for the node
+  std::weak_ptr<ProcessingTimeNode> parent_node_;  //!< Weak pointer to the parent node
   std::vector<std::shared_ptr<ProcessingTimeNode>>
     child_nodes_;  //!< Vector of shared pointers to the child nodes
 };