Switch from glog to apollo common log.

modules/planning/common/frame.cc

@@ -20,7 +20,7 @@
 
 #include "modules/planning/common/frame.h"
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {

modules/planning/common/logic_node.cc

@@ -20,7 +20,7 @@
 
 #include "modules/planning/common/logic_node.h"
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {

modules/planning/common/path/discretized_path.cc

@@ -21,8 +21,8 @@
 #include "modules/planning/common/path/discretized_path.h"
 
 #include <utility>
-#include "glog/logging.h"
 
+#include "modules/common/log.h"
 #include "modules/planning/common/path/path_point_util.h"
 
 namespace apollo {
@@ -88,7 +88,7 @@ std::size_t DiscretizedPath::num_of_points() const {
 
 const common::PathPoint& DiscretizedPath::path_point_at(
     const std::size_t index) const {
-  CHECK(index < path_points_.size());
+  CHECK_LT(index, path_points_.size());
   return path_points_[index];
 }
 
@@ -103,7 +103,7 @@ common::PathPoint DiscretizedPath::end_point() const {
 }
 
 common::PathPoint& DiscretizedPath::path_point_at(const std::size_t index) {
-  CHECK(index < path_points_.size());
+  CHECK_LT(index, path_points_.size());
   return path_points_[index];
 }
 

modules/planning/common/path/frenet_frame_path.cc

@@ -20,8 +20,8 @@
 #include "modules/planning/common/path/frenet_frame_path.h"
 
 #include <utility>
-#include "glog/logging.h"
 
+#include "modules/common/log.h"
 #include "modules/common/proto/path_point.pb.h"
 
 namespace apollo {
@@ -49,12 +49,12 @@ std::size_t FrenetFramePath::num_points() const { return points_.size(); }
 
 const common::FrenetFramePoint& FrenetFramePath::point_at(
     const std::size_t index) const {
-  CHECK(index < points_.size());
+  CHECK_LT(index, points_.size());
   return points_[index];
 }
 
 common::FrenetFramePoint& FrenetFramePath::point_at(const std::size_t index) {
-  CHECK(index < points_.size());
+  CHECK_LT(index, points_.size());
   return points_[index];
 }
 

modules/planning/common/path/path_data.cc

@@ -21,8 +21,8 @@
 #include "modules/planning/common/path/path_data.h"
 
 #include <sstream>
-#include "glog/logging.h"
 
+#include "modules/common/log.h"
 #include "modules/planning/math/double.h"
 
 namespace apollo {
@@ -64,7 +64,7 @@ bool PathData::get_path_point_with_path_s(
   } else {
     double s0 = (it_lower - 1)->s();
     double s1 = it_lower->s();
-    CHECK(s0 < s1);
+    CHECK_LT(s0, s1);
     *path_point =
         util::interpolate_linear_approximation(*(it_lower - 1), *it_lower, s);
   }
@@ -93,7 +93,7 @@ bool PathData::get_path_point_with_ref_s(
     //        double ref_s0 = (it_lower - 1)->s();
     //        double ref_s1 = it_lower->s();
     //
-    //        CHECK(ref_s0 < ref_s1);
+    //        CHECK_LT(ref_s0, ref_s1);
     //        double weight = (ref_s - ref_s0) / (ref_s1 - ref_s0);
     //        *path_point =
     //        common::PathPoint::interpolate_linear_approximation(path_.path_point_at(index_lower

modules/planning/common/trajectory/discretized_trajectory.cc

@@ -22,7 +22,7 @@
 
 #include <climits>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 #include "modules/planning/common/path/path_point_util.h"
 
 namespace apollo {
@@ -120,7 +120,7 @@ void DiscretizedTrajectory::add_trajectory_point(
 
 const TrajectoryPoint& DiscretizedTrajectory::trajectory_point_at(
     const std::size_t index) const {
-  CHECK(index < num_of_points());
+  CHECK_LT(index, num_of_points());
   return _trajectory_points[index];
 }
 

modules/planning/math/BUILD

@@ -7,11 +7,11 @@ cc_library(
     srcs = [
         "double.cc",
     ],
-    hdrs = glob([
+    hdrs = [
         "double.h",
-    ]),
+    ],
     deps = [
-        "@glog//:glog",
+        "//modules/common:log",
     ],
 )
 
@@ -20,10 +20,8 @@ cc_library(
     srcs = [
         "curve_math.cc",
     ],
-    hdrs = glob([
+    hdrs = [
         "curve_math.h",
-    ]),
-    deps = [
     ],
 )
 
@@ -32,11 +30,11 @@ cc_library(
     srcs = [
         "integration.cc",
     ],
-    hdrs = glob([
+    hdrs = [
         "integration.h",
-    ]),
+    ],
     deps = [
-        "@glog//:glog",
+        "//modules/common:log",
     ],
 )
 
@@ -45,11 +43,11 @@ cc_library(
     srcs = [
         "polynomial_xd.cc",
     ],
-    hdrs = glob([
+    hdrs = [
         "polynomial_xd.h",
-    ]),
+    ],
     deps = [
-        "@glog//:glog",
+        "//modules/common:log",
     ],
 )
 
@@ -58,9 +56,9 @@ cc_library(
     srcs = [
         "sl_analytic_transformation.cc",
     ],
-    hdrs = glob([
+    hdrs = [
         "sl_analytic_transformation.h",
-    ]),
+    ],
     deps = [
         ":double",
         "@eigen//:eigen",
@@ -69,23 +67,23 @@ cc_library(
 
 cc_library(
     name = "interpolation",
-    hdrs = glob([
+    hdrs = [
         "interpolation.h",
-    ]),
+    ],
     deps = [
         ":hermite_spline",
+        "//modules/common:log",
         "//modules/common/math:math_utils",
-        "@glog//:glog",
     ],
 )
 
 cc_library(
     name = "hermite_spline",
-    hdrs = glob([
+    hdrs = [
         "hermite_spline.h",
-    ]),
+    ],
     deps = [
-        "@glog//:glog",
+        "//modules/common:log",
     ],
 )
 

modules/planning/math/curve1d/BUILD

@@ -7,8 +7,6 @@ cc_library(
     hdrs = [
         "curve1d.h",
     ],
-    deps = [
-    ],
 )
 
 cc_library(
@@ -30,8 +28,8 @@ cc_library(
         "quartic_polynomial_curve1d.h",
     ],
     deps = [
-        "polynomial_curve1d",
-        "@glog//:glog",
+        ":polynomial_curve1d",
+        "//modules/common:log",
     ],
 )
 
@@ -44,8 +42,8 @@ cc_library(
         "quintic_polynomial_curve1d.h",
     ],
     deps = [
-        "polynomial_curve1d",
-        "@glog//:glog",
+        ":polynomial_curve1d",
+        "//modules/common:log",
     ],
 )
 

modules/planning/math/curve1d/quartic_polynomial_curve1d.cc

@@ -21,7 +21,8 @@
 #include "modules/planning/math/curve1d/quartic_polynomial_curve1d.h"
 
 #include <string>
-#include "glog/logging.h"
+
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {
@@ -79,7 +80,7 @@ double QuarticPolynomialCurve1d::param_length() const { return param_; }
 void QuarticPolynomialCurve1d::compute_coefficients(
     const double x0, const double dx0, const double ddx0, const double dx1,
     const double ddx1, const double p) {
-  CHECK(p > 0.0);
+  CHECK_GT(p, 0.0);
 
   param_ = p;
 

modules/planning/math/curve1d/quintic_polynomial_curve1d.cc

@@ -20,7 +20,7 @@
 
 #include "modules/planning/math/curve1d/quintic_polynomial_curve1d.h"
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {
@@ -88,7 +88,7 @@ double QuinticPolynomialCurve1d::evaluate(const size_t order,
 void QuinticPolynomialCurve1d::compute_coefficients(
     const double x0, const double dx0, const double ddx0, const double x1,
     const double dx1, const double ddx1, const double p) {
-  CHECK(p > 0.0);
+  CHECK_GT(p, 0.0);
 
   coef_[5] = x0;
   coef_[4] = dx0;

modules/planning/math/double.cc

@@ -18,7 +18,7 @@
 
 #include <cmath>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {

modules/planning/math/frame_conversion/BUILD

@@ -11,9 +11,9 @@ cc_library(
         "cartesian_frenet_conversion.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/common/math:vec2d",
         "//modules/common/math:math_utils",
-        "@glog//:glog",
     ],
 )
 

modules/planning/math/frame_conversion/cartesian_frenet_conversion.cc

@@ -21,8 +21,8 @@
 #include "modules/planning/math/frame_conversion/cartesian_frenet_conversion.h"
 
 #include <cmath>
-#include "glog/logging.h"
 
+#include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"
 
 namespace apollo {

modules/planning/math/hermite_spline.h

@@ -23,7 +23,7 @@
 
 #include <utility>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {
@@ -54,8 +54,8 @@ inline HermiteSpline<T, N>::HermiteSpline(std::array<T, (N + 1) / 2> x0,
                                           std::array<T, (N + 1) / 2> x1,
                                           const double z0, const double z1)
     : _x0(std::move(x0)), _x1(std::move(x1)), _z0(z0), delta_z_(z1 - z0) {
-  CHECK((N == 3 || N == 5) &&
-        "Error: currently we only support cubic and quintic hermite splines!");
+  CHECK(N == 3 || N == 5)
+      << "Error: currently we only support cubic and quintic hermite splines!";
 }
 
 template <typename T, std::size_t N>
@@ -174,7 +174,7 @@ inline T HermiteSpline<T, N>::evaluate(const std::size_t order,
       default: { break; }
     }
   }
-  CHECK(false && "Error: unsupported order of spline or derivative!");
+  AFATAL << "Error: unsupported order of spline or derivative!";
   T t;
   return t;
 }

modules/planning/math/integration.cc

@@ -22,7 +22,7 @@
 
 #include <array>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {

modules/planning/math/interpolation.h

@@ -24,7 +24,7 @@
 #include <array>
 #include <cmath>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/planning/math/hermite_spline.h"
 
@@ -80,9 +80,9 @@ inline std::array<T, N> Interpolation::hermite(const std::array<T, N>& x0,
                                                const std::array<T, N>& x1,
                                                const double p1,
                                                const double p) {
-  CHECK((N == 2 || N == 3) &&
-        "Error: currently hermite interpolation "
-        "only supports cubic and quintic!");
+  CHECK(N == 2 || N == 3)
+      << "Error: currently hermite interpolation only supports cubic and "
+         "quintic!";
 
   HermiteSpline<T, 2 * N - 1> hermite_spline(x0, x1, p0, p1);
   std::array<T, N> x;

modules/planning/math/smoothing_spline/BUILD

@@ -107,7 +107,6 @@ cc_library(
         "//modules/common/math/qp_solver",
         "//modules/common/math/qp_solver:active_set_qp_solver",
         "@eigen//:eigen",
-        "@glog//:glog",
     ],
 )
 
@@ -137,7 +136,6 @@ cc_library(
         ":spline_2d_seg",
         "//modules/planning/math:polynomial_xd",
         "@eigen//:eigen",
-        "@glog//:glog",
     ],
 )
 

modules/planning/math/smoothing_spline/affine_constraint.cc

@@ -19,7 +19,8 @@
  **/
 
 #include "modules/planning/math/smoothing_spline/affine_constraint.h"
-#include "glog/logging.h"
+
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {
@@ -33,7 +34,7 @@ AffineConstraint::AffineConstraint(const Eigen::MatrixXd& constraint_matrix,
     : constraint_matrix_(constraint_matrix),
       constraint_boundary_(constraint_boundary),
       is_equality_(is_equality) {
-  CHECK(constraint_boundary.rows() == constraint_matrix.rows());
+  CHECK_EQ(constraint_boundary.rows(), constraint_matrix.rows());
 }
 
 void AffineConstraint::set_is_equality(const double is_equality) {

modules/planning/math/smoothing_spline/spline_1d_generator.h

@@ -52,7 +52,6 @@
 #include <vector>
 
 #include "Eigen/Core"
-#include "glog/logging.h"
 
 #include "modules/common/math/qp_solver/qp_solver.h"
 #include "modules/planning/math/smoothing_spline/spline_1d.h"

modules/planning/math/smoothing_spline/spline_2d.cc

@@ -148,8 +148,7 @@ std::size_t Spline2d::spline_order() const { return spline_order_; }
 std::size_t Spline2d::find_index(const double t) const {
   auto upper_bound = std::upper_bound(t_knots_.begin() + 1, t_knots_.end(), t);
   return std::min(t_knots_.size() - 1,
-                  static_cast<std::size_t>(upper_bound - t_knots_.begin())) -
-         1;
+                  static_cast<std::size_t>(upper_bound - t_knots_.begin())) - 1;
 }
 
 }  // namespace planning

modules/planning/math/smoothing_spline/spline_2d.h

@@ -26,7 +26,6 @@
 #include <vector>
 
 #include "Eigen/Core"
-#include "glog/logging.h"
 
 #include "modules/planning/math/polynomial_xd.h"
 #include "modules/planning/math/smoothing_spline/spline_2d_seg.h"

modules/planning/math/spiral_curve/BUILD

@@ -40,11 +40,11 @@ cc_library(
     deps = [
         ":spiral_curve",
         ":spiral_formula",
+        "//modules/common:log",
         "//modules/common/proto:error_code_proto",
         "//modules/common/proto:path_point_proto",
         "//modules/planning/math:integration",
         "@eigen//:eigen",
-        "@glog//:glog",
     ],
 )
 
@@ -59,10 +59,10 @@ cc_library(
     deps = [
         ":spiral_curve",
         ":spiral_formula",
+        "//modules/common:log",
         "//modules/common/proto:path_point_proto",
         "//modules/planning/math:integration",
         "@eigen//:eigen",
-        "@glog//:glog",
     ],
 )
 

modules/planning/math/spiral_curve/cubic_spiral_curve.cc

@@ -22,8 +22,8 @@
 #include <algorithm>
 #include "Eigen/Core"
 #include "Eigen/LU"
-#include "glog/logging.h"
 
+#include "modules/common/log.h"
 #include "modules/planning/math/integration.h"
 #include "modules/planning/math/spiral_curve/spiral_formula.h"
 

modules/planning/math/spiral_curve/cubic_spiral_curve.h

@@ -33,6 +33,7 @@
 #define MODULES_PLANNING_MATH_SPIRAL_CURVE_CUBIC_SPIRAL_CURVE_H_
 
 #include <vector>
+
 #include "modules/common/proto/error_code.pb.h"
 #include "modules/common/proto/path_point.pb.h"
 #include "modules/planning/math/spiral_curve/spiral_curve.h"

modules/planning/math/spiral_curve/quintic_spiral_curve.cc

@@ -22,8 +22,8 @@
 #include <algorithm>
 #include "Eigen/Core"
 #include "Eigen/LU"
-#include "glog/logging.h"
 
+#include "modules/common/log.h"
 #include "modules/planning/math/integration.h"
 #include "modules/planning/math/spiral_curve/spiral_formula.h"
 

modules/planning/math/spiral_curve/quintic_spiral_curve.h

@@ -35,6 +35,7 @@
 #define MODULES_PLANNING_MATH_SPIRAL_CURVE_QUINTIC_SPIRAL_CURVE_H_
 
 #include <vector>
+
 #include "modules/common/proto/error_code.pb.h"
 #include "modules/common/proto/path_point.pb.h"
 #include "modules/planning/math/spiral_curve/spiral_curve.h"