chore(autoware_ndt_scan_matcher): move header files from include to src (#866)

sasakisasaki · pre-commit-ci[bot] · web-flow · commit ee1c5d1d4d70 · 2026-03-03T12:44:35.000Z
* chore(ndt_scan_matcher): move headers from `include` to `src` not to be public

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;

* bug(`ndt_omp`): fix a missing copyright

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;

* bug(ndt_scan_matcher): remove unnecessary lines in `CMakeLists.txt`

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;

* style(pre-commit): autofix

* bug: fix by `pre-commit`

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;

* bug: fix by `cppcheck`

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;

* style(pre-commit): autofix

* bug: fix by `pre-commit`

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;

---------

Signed-off-by: Junya Sasaki &lt;junya.sasaki@tier4.jp&gt;
Co-authored-by: pre-commit-ci[bot] &lt;66853113+pre-commit-ci[bot]@users.noreply.github.com&gt;
diff --git a/localization/autoware_ndt_scan_matcher/CMakeLists.txt b/localization/autoware_ndt_scan_matcher/CMakeLists.txt
@@ -34,6 +34,10 @@ ament_auto_add_library(multigrid_ndt_omp SHARED
   src/ndt_omp/multigrid_ndt_omp.cpp
   src/ndt_omp/estimate_covariance.cpp
 )
+target_include_directories(multigrid_ndt_omp
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
+)
 target_link_libraries(multigrid_ndt_omp ${PCL_LIBRARIES})
 
 if(OpenMP_CXX_FOUND)
@@ -47,6 +51,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/ndt_scan_matcher_core.cpp
   src/particle.cpp
 )
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
+)
 
 link_directories(${PCL_LIBRARY_DIRS})
 target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} multigrid_ndt_omp)
diff --git a/localization/autoware_ndt_scan_matcher/src/hyper_parameters.hpp b/localization/autoware_ndt_scan_matcher/src/hyper_parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
-#define AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
+#ifndef HYPER_PARAMETERS_HPP_
+#define HYPER_PARAMETERS_HPP_
 
 #include "ndt_omp/multigrid_ndt_omp.h"
 
@@ -196,4 +196,4 @@ struct HyperParameters
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_
+#endif  // HYPER_PARAMETERS_HPP_
diff --git a/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp b/localization/autoware_ndt_scan_matcher/src/map_update_module.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <autoware/ndt_scan_matcher/map_update_module.hpp>
+#include "map_update_module.hpp"
 
 #include <memory>
 #include <string>
@@ -22,19 +22,17 @@ namespace autoware::ndt_scan_matcher
 
 MapUpdateModule::MapUpdateModule(
   rclcpp::Node * node, std::mutex * ndt_ptr_mutex, NdtPtrType & ndt_ptr,
-  HyperParameters::DynamicMapLoading param)
-: ndt_ptr_(ndt_ptr),
+  const HyperParameters::DynamicMapLoading & param)
+: loaded_pcd_pub_(node->create_publisher<sensor_msgs::msg::PointCloud2>(
+    "debug/loaded_pointcloud_map", rclcpp::QoS{1}.transient_local())),
+  pcd_loader_client_(node->create_client<autoware_map_msgs::srv::GetDifferentialPointCloudMap>(
+    "pcd_loader_service")),
+  ndt_ptr_(ndt_ptr),
   ndt_ptr_mutex_(ndt_ptr_mutex),
   logger_(node->get_logger()),
   clock_(node->get_clock()),
   param_(param)
 {
-  loaded_pcd_pub_ = node->create_publisher<sensor_msgs::msg::PointCloud2>(
-    "debug/loaded_pointcloud_map", rclcpp::QoS{1}.transient_local());
-
-  pcd_loader_client_ =
-    node->create_client<autoware_map_msgs::srv::GetDifferentialPointCloudMap>("pcd_loader_service");
-
   secondary_ndt_ptr_.reset(new NdtType);
 
   if (ndt_ptr_) {
diff --git a/localization/autoware_ndt_scan_matcher/src/map_update_module.hpp b/localization/autoware_ndt_scan_matcher/src/map_update_module.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
-#define AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
+#ifndef MAP_UPDATE_MODULE_HPP_
+#define MAP_UPDATE_MODULE_HPP_
 
 #include "hyper_parameters.hpp"
 #include "ndt_omp/multigrid_ndt_omp.h"
@@ -54,7 +54,7 @@ class MapUpdateModule
 public:
   MapUpdateModule(
     rclcpp::Node * node, std::mutex * ndt_ptr_mutex, NdtPtrType & ndt_ptr,
-    HyperParameters::DynamicMapLoading param);
+    const HyperParameters::DynamicMapLoading & param);
 
   bool out_of_map_range(const geometry_msgs::msg::Point & position);
 
@@ -101,4 +101,4 @@ class MapUpdateModule
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_
+#endif  // MAP_UPDATE_MODULE_HPP_
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/LICENSE b/localization/autoware_ndt_scan_matcher/src/ndt_omp/LICENSE
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/README.md b/localization/autoware_ndt_scan_matcher/src/ndt_omp/README.md
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp>
+#include "ndt_omp/estimate_covariance.hpp"
 
 #include <algorithm>
 #include <fstream>
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/estimate_covariance.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__ESTIMATE_COVARIANCE_HPP_
-#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__ESTIMATE_COVARIANCE_HPP_
+#ifndef NDT_OMP__ESTIMATE_COVARIANCE_HPP_
+#define NDT_OMP__ESTIMATE_COVARIANCE_HPP_
 
 #include "multigrid_ndt_omp.h"
 
@@ -79,4 +79,4 @@ Eigen::Matrix2d adjust_diagonal_covariance(
 
 }  // namespace pclomp
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__ESTIMATE_COVARIANCE_HPP_
+#endif  // NDT_OMP__ESTIMATE_COVARIANCE_HPP_
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "ndt_omp/multi_voxel_grid_covariance_omp.h"
+
 #include "multi_voxel_grid_covariance_omp_impl.hpp"
 
 template class pclomp::MultiVoxelGridCovariance<pcl::PointXYZ>;
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.h b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp.h
@@ -49,8 +49,8 @@
  *
  */
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_
-#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_
+#ifndef NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_
+#define NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_
 
 // cspell:ignore Magnusson, Okorn, evecs, evals, covar, eigvalue, futs
 
@@ -391,4 +391,4 @@ class MultiVoxelGridCovariance : public pcl::VoxelGrid<PointT>
 };
 }  // namespace pclomp
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_
+#endif  // NDT_OMP__MULTI_VOXEL_GRID_COVARIANCE_OMP_H_
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multi_voxel_grid_covariance_omp_impl.hpp
@@ -54,7 +54,8 @@
 
 // cspell:ignore evecs, evals, covar, eigvalue, futs
 
-#include <autoware/ndt_scan_matcher/ndt_omp/multi_voxel_grid_covariance_omp.h>
+#include "ndt_omp/multi_voxel_grid_covariance_omp.h"
+
 #include <pcl/common/common.h>
 #include <pcl/filters/boost.h>
 
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "ndt_omp/multigrid_ndt_omp.h"
+
 #include "multigrid_ndt_omp_impl.hpp"
 
 template class pclomp::MultiGridNormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>;
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.h b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp.h
@@ -52,8 +52,8 @@
  *
  */
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTIGRID_NDT_OMP_H_
-#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTIGRID_NDT_OMP_H_
+#ifndef NDT_OMP__MULTIGRID_NDT_OMP_H_
+#define NDT_OMP__MULTIGRID_NDT_OMP_H_
 
 // cspell:ignore multigrid, Magnusson, Thuente, Todor, Stoyanov, Okorn
 
@@ -497,4 +497,4 @@ class MultiGridNormalDistributionsTransform : public pcl::Registration<PointSour
 
 }  // namespace pclomp
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__MULTIGRID_NDT_OMP_H_
+#endif  // NDT_OMP__MULTIGRID_NDT_OMP_H_
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp_impl.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/multigrid_ndt_omp_impl.hpp
@@ -57,7 +57,7 @@
 
 // cspell:ignore multigrid, nnvn, colj
 
-#include <autoware/ndt_scan_matcher/ndt_omp/multigrid_ndt_omp.h>
+#include "ndt_omp/multigrid_ndt_omp.h"
 
 #include <algorithm>
 #include <utility>
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_omp/ndt_struct.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_omp/ndt_struct.hpp
@@ -51,8 +51,8 @@
  *
  */
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__NDT_STRUCT_HPP_
-#define AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__NDT_STRUCT_HPP_
+#ifndef NDT_OMP__NDT_STRUCT_HPP_
+#define NDT_OMP__NDT_STRUCT_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -104,4 +104,4 @@ struct NdtParams
 
 }  // namespace pclomp
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__NDT_OMP__NDT_STRUCT_HPP_
+#endif  // NDT_OMP__NDT_STRUCT_HPP_
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "ndt_scan_matcher_core.hpp"
+
+#include "ndt_omp/estimate_covariance.hpp"
+#include "particle.hpp"
+
 #include <autoware/localization_util/matrix_type.hpp>
 #include <autoware/localization_util/tree_structured_parzen_estimator.hpp>
 #include <autoware/localization_util/util_func.hpp>
-#include <autoware/ndt_scan_matcher/ndt_omp/estimate_covariance.hpp>
-#include <autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp>
-#include <autoware/ndt_scan_matcher/particle.hpp>
 #include <autoware/qos_utils/qos_compatibility.hpp>
 #include <autoware_utils_geometry/geometry.hpp>
 #include <autoware_utils_pcl/transforms.hpp>
@@ -1016,7 +1018,7 @@ void NDTScanMatcher::service_ndt_align_main(
     diagnostics_ndt_align_->add_key_value("is_succeed_transform_initial_pose", false);
 
     std::stringstream message;
-    message << "Please publish TF " << target_frame.c_str() << " to " << source_frame.c_str();
+    message << "Please publish TF " << target_frame << " to " << source_frame;
     diagnostics_ndt_align_->update_level_and_message(
       diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str());
     RCLCPP_ERROR_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str());
diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.hpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
-#define AUTOWARE__NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
+#ifndef NDT_SCAN_MATCHER_CORE_HPP_
+#define NDT_SCAN_MATCHER_CORE_HPP_
 
 #define FMT_HEADER_ONLY
 
@@ -223,4 +223,4 @@ class NDTScanMatcher : public rclcpp::Node
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
+#endif  // NDT_SCAN_MATCHER_CORE_HPP_
diff --git a/localization/autoware_ndt_scan_matcher/src/particle.cpp b/localization/autoware_ndt_scan_matcher/src/particle.cpp
@@ -12,8 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "particle.hpp"
+
 #include <autoware/localization_util/util_func.hpp>
-#include <autoware/ndt_scan_matcher/particle.hpp>
 
 #include <string>
 namespace autoware::ndt_scan_matcher
diff --git a/localization/autoware_ndt_scan_matcher/src/particle.hpp b/localization/autoware_ndt_scan_matcher/src/particle.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__NDT_SCAN_MATCHER__PARTICLE_HPP_
-#define AUTOWARE__NDT_SCAN_MATCHER__PARTICLE_HPP_
+#ifndef PARTICLE_HPP_
+#define PARTICLE_HPP_
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -43,4 +43,4 @@ void push_debug_markers(
 
 }  // namespace autoware::ndt_scan_matcher
 
-#endif  // AUTOWARE__NDT_SCAN_MATCHER__PARTICLE_HPP_
+#endif  // PARTICLE_HPP_
diff --git a/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp b/localization/autoware_ndt_scan_matcher/test/test_fixture.hpp
@@ -15,7 +15,7 @@
 #ifndef TEST_FIXTURE_HPP_
 #define TEST_FIXTURE_HPP_
 
-#include "../include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp"
+#include "ndt_scan_matcher_core.hpp"
 #include "stub_initialpose_client.hpp"
 #include "stub_pcd_loader.hpp"
 #include "stub_sensor_pcd_publisher.hpp"
