fix(behavior_path_planner): move module output interface definition

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp

@@ -23,13 +23,17 @@
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
+#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
+#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
 #include <lanelet2_core/geometry/Lanelet.h>
 
+#include <limits>
 #include <memory>
 #include <string>
 #include <vector>
@@ -38,11 +42,16 @@ namespace behavior_path_planner
 {
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
+using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
+using autoware_planning_msgs::msg::PoseWithUuidStamped;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using route_handler::RouteHandler;
+using PlanResult = PathWithLaneId::SharedPtr;
+
 struct BoolStamped
 {
   explicit BoolStamped(bool in_data) : data(in_data) {}
@@ -63,6 +72,46 @@ struct DrivableLanes
   lanelet::ConstLanelets middle_lanes;
 };
 
+struct TurnSignalInfo
+{
+  TurnSignalInfo()
+  {
+    turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;
+    hazard_signal.command = HazardLightsCommand::NO_COMMAND;
+  }
+
+  // desired turn signal
+  TurnIndicatorsCommand turn_signal;
+  HazardLightsCommand hazard_signal;
+
+  geometry_msgs::msg::Pose desired_start_point;
+  geometry_msgs::msg::Pose desired_end_point;
+  geometry_msgs::msg::Pose required_start_point;
+  geometry_msgs::msg::Pose required_end_point;
+};
+
+struct BehaviorModuleOutput
+{
+  BehaviorModuleOutput() = default;
+
+  // path planed by module
+  PlanResult path{};
+
+  TurnSignalInfo turn_signal_info{};
+
+  std::optional<PoseWithUuidStamped> modified_goal{};
+};
+
+struct CandidateOutput
+{
+  CandidateOutput() = default;
+  explicit CandidateOutput(const PathWithLaneId & path) : path_candidate{path} {}
+  PathWithLaneId path_candidate{};
+  double lateral_shift{0.0};
+  double start_distance_to_path_change{std::numeric_limits<double>::lowest()};
+  double finish_distance_to_path_change{std::numeric_limits<double>::lowest()};
+};
+
 struct PlannerData
 {
   Odometry::ConstSharedPtr self_odometry{};

planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp

@@ -27,9 +27,6 @@
 
 #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
-#include <autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
@@ -47,38 +44,13 @@ namespace behavior_path_planner
 {
 using autoware_adapi_v1_msgs::msg::SteeringFactor;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
-using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
-using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
-using autoware_planning_msgs::msg::PoseWithUuidStamped;
 using rtc_interface::RTCInterface;
 using steering_factor_interface::SteeringFactorInterface;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using unique_identifier_msgs::msg::UUID;
 using visualization_msgs::msg::MarkerArray;
 using PlanResult = PathWithLaneId::SharedPtr;
 
-struct BehaviorModuleOutput
-{
-  BehaviorModuleOutput() = default;
-
-  // path planed by module
-  PlanResult path{};
-
-  TurnSignalInfo turn_signal_info{};
-
-  std::optional<PoseWithUuidStamped> modified_goal{};
-};
-
-struct CandidateOutput
-{
-  CandidateOutput() = default;
-  explicit CandidateOutput(const PathWithLaneId & path) : path_candidate{path} {}
-  PathWithLaneId path_candidate{};
-  double lateral_shift{0.0};
-  double start_distance_to_path_change{std::numeric_limits<double>::lowest()};
-  double finish_distance_to_path_change{std::numeric_limits<double>::lowest()};
-};
-
 class SceneModuleInterface
 {
 public:

planning/behavior_path_planner/include/behavior_path_planner/turn_signal_decider.hpp

@@ -39,24 +39,6 @@ using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using route_handler::RouteHandler;
 
-struct TurnSignalInfo
-{
-  TurnSignalInfo()
-  {
-    turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;
-    hazard_signal.command = HazardLightsCommand::NO_COMMAND;
-  }
-
-  // desired turn signal
-  TurnIndicatorsCommand turn_signal;
-  HazardLightsCommand hazard_signal;
-
-  geometry_msgs::msg::Pose desired_start_point;
-  geometry_msgs::msg::Pose desired_end_point;
-  geometry_msgs::msg::Pose required_start_point;
-  geometry_msgs::msg::Pose required_end_point;
-};
-
 const std::map<std::string, uint8_t> signal_map = {
   {"left", TurnIndicatorsCommand::ENABLE_LEFT},
   {"right", TurnIndicatorsCommand::ENABLE_RIGHT},