From c1b4c3622a3bd030633781f9e7cc0e4e18c30300 Mon Sep 17 00:00:00 2001
From: "Orduno, Carlos A" <carlos.a.orduno@intel.com>
Date: Fri, 11 Jan 2019 15:43:33 -0800
Subject: [PATCH] Renamed Point class to Point2D

---
 nav2_util/include/nav2_util/{point.hpp => point2d.hpp} | 10 +++++-----
 .../nav2_world_model/costmap_representation.hpp        |  4 ++--
 .../include/nav2_world_model/world_model.hpp           |  1 -
 nav2_world_model/src/costmap_representation.cpp        | 10 +++++-----
 4 files changed, 12 insertions(+), 13 deletions(-)
 rename nav2_util/include/nav2_util/{point.hpp => point2d.hpp} (88%)

diff --git a/nav2_util/include/nav2_util/point.hpp b/nav2_util/include/nav2_util/point2d.hpp
similarity index 88%
rename from nav2_util/include/nav2_util/point.hpp
rename to nav2_util/include/nav2_util/point2d.hpp
index 1036aa521c6..3f84b59a000 100644
--- a/nav2_util/include/nav2_util/point.hpp
+++ b/nav2_util/include/nav2_util/point2d.hpp
@@ -22,14 +22,14 @@
 namespace nav2_util
 {
 
-struct Point
+struct Point2D
 {
   double x, y;
 
-  Point(const double x, const double y)
+  Point2D(const double x, const double y)
   : x(x), y(y) { }
 
-  bool operator==(const Point & obj) const
+  bool operator==(const Point2D & obj) const
   {
     if (x == obj.x && y == obj.y) {
       return true;
@@ -38,14 +38,14 @@ struct Point
     }
   }
 
-  friend std::ostream & operator<<(std::ostream & os, const Point & point)
+  friend std::ostream & operator<<(std::ostream & os, const Point2D & point)
   {
     return os <<
            "x: " << point.x <<
            " y: " << point.y;
   }
 
-  void rotateAroundPoint(const double theta, const Point & reference)
+  void rotateAroundPoint(const double theta, const Point2D & reference)
   {
     // translate point such that the reference is now the origin
     double x_t = x - reference.x;
diff --git a/nav2_world_model/include/nav2_world_model/costmap_representation.hpp b/nav2_world_model/include/nav2_world_model/costmap_representation.hpp
index 1072e236ea3..7359b6be4c0 100644
--- a/nav2_world_model/include/nav2_world_model/costmap_representation.hpp
+++ b/nav2_world_model/include/nav2_world_model/costmap_representation.hpp
@@ -23,7 +23,7 @@
 #include "nav2_world_model/world_representation.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "tf2_ros/transform_listener.h"
-#include "nav2_util/point.hpp"
+#include "nav2_util/point2d.hpp"
 #include "nav2_world_model/region_visualizer.hpp"
 
 namespace nav2_world_model
@@ -64,7 +64,7 @@ class CostmapRepresentation : public WorldRepresentation
 
   bool addToMapLocations(
     std::vector<nav2_costmap_2d::MapLocation> & vertices,
-    const nav2_util::Point & vertex) const;
+    const nav2_util::Point2D & vertex) const;
 
   bool isFree(const nav2_costmap_2d::MapLocation & location) const;
 };
diff --git a/nav2_world_model/include/nav2_world_model/world_model.hpp b/nav2_world_model/include/nav2_world_model/world_model.hpp
index 0d5d94726ec..20941ad5cce 100644
--- a/nav2_world_model/include/nav2_world_model/world_model.hpp
+++ b/nav2_world_model/include/nav2_world_model/world_model.hpp
@@ -21,7 +21,6 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_world_model/world_representation.hpp"
-#include "nav2_world_model/rectangular_region.hpp"
 #include "geometry_msgs/msg/polygon_stamped.hpp"
 
 namespace nav2_world_model
diff --git a/nav2_world_model/src/costmap_representation.cpp b/nav2_world_model/src/costmap_representation.cpp
index 9a51fbb8049..8c5204754ab 100644
--- a/nav2_world_model/src/costmap_representation.cpp
+++ b/nav2_world_model/src/costmap_representation.cpp
@@ -25,7 +25,7 @@ namespace nav2_world_model
 {
 
 using nav2_costmap_2d::MapLocation;
-using nav2_util::Point;
+using nav2_util::Point2D;
 
 CostmapRepresentation::CostmapRepresentation(
   const std::string name,
@@ -137,8 +137,8 @@ bool CostmapRepresentation::generateRectangleVertices(
   double right = request.reference.x + request.width / 2 - request.offset.x;
   double left = request.reference.x - request.width / 2 - request.offset.x;
 
-  std::vector<Point> vertices = {
-    Point{left, down}, Point{left, top}, Point{right, top}, Point{right, down}};
+  std::vector<Point2D> vertices = {
+    Point2D{left, down}, Point2D{left, top}, Point2D{right, top}, Point2D{right, down}};
 
   // TODO(orduno) the RVIZ world frame is rotated 90 deg with respect to Gazebo.
   const double rvizToGazeboOffset = M_PI / 2;
@@ -147,7 +147,7 @@ bool CostmapRepresentation::generateRectangleVertices(
   for (auto & point : vertices) {
     point.rotateAroundPoint(
       angleutils::normalize(request.rotation + rvizToGazeboOffset),
-      Point{request.reference.x, request.reference.y});
+      Point2D{request.reference.x, request.reference.y});
   }
 
   // Convert the vertices to map coordinates
@@ -162,7 +162,7 @@ bool CostmapRepresentation::generateRectangleVertices(
 }
 
 bool CostmapRepresentation::addToMapLocations(
-  std::vector<MapLocation> & locations, const Point & point) const
+  std::vector<MapLocation> & locations, const Point2D & point) const
 {
   unsigned int mx, my;