Planning: StGraph code clean.

modules/planning/tasks/st_graph/st_boundary_mapper.cc

@@ -99,7 +99,6 @@ Status StBoundaryMapper::GetGraphBoundary(
   }
 
   st_boundaries->clear();
-  Status ret = Status::OK();
 
   const PathObstacle* stop_obstacle = nullptr;
   ObjectDecisionType stop_decision;

modules/planning/tasks/st_graph/st_boundary_mapper.h

@@ -46,6 +46,8 @@ class StBoundaryMapper {
                    const PathData& path_data, const double planning_distance,
                    const double planning_time);
 
+  virtual ~StBoundaryMapper() = default;
+
   apollo::common::Status GetGraphBoundary(
       const PathDecision& path_decision,
       std::vector<StBoundary>* const boundary) const;

modules/planning/tasks/st_graph/st_boundary_mapper_test.cc

@@ -23,6 +23,7 @@
 #include "gtest/gtest.h"
 
 #include "modules/common/log.h"
+#include "modules/map/hdmap/hdmap_util.h"
 #include "modules/planning/common/path_obstacle.h"
 #include "modules/planning/reference_line/reference_line_smoother.h"
 
@@ -33,13 +34,10 @@ class StBoundaryMapperTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     hdmap_.LoadMapFromFile(map_file);
-    const std::string lane_id_str = "1_-1";
-    hdmap::Id lane_id;
-    lane_id.set_id(lane_id_str);
-    lane_info_ptr = hdmap_.GetLaneById(lane_id);
+    const std::string lane_id = "1_-1";
+    lane_info_ptr = hdmap_.GetLaneById(hdmap::MakeMapId(lane_id));
     if (!lane_info_ptr) {
-      AERROR << "failed to find lane " << lane_id_str << " from map "
-             << map_file;
+      AERROR << "failed to find lane " << lane_id << " from map " << map_file;
       return;
     }
     ReferenceLineSmootherConfig config;

modules/planning/tasks/st_graph/st_graph_data.cc

@@ -40,7 +40,7 @@ const std::vector<StBoundary>& StGraphData::st_boundaries() const {
 
 const TrajectoryPoint& StGraphData::init_point() const { return init_point_; }
 
-const SpeedLimit StGraphData::speed_limit() const { return speed_limit_; }
+const SpeedLimit& StGraphData::speed_limit() const { return speed_limit_; }
 
 double StGraphData::path_data_length() const { return path_data_length_; }
 

modules/planning/tasks/st_graph/st_graph_data.h

@@ -34,8 +34,6 @@ namespace planning {
 
 class StGraphData {
  public:
-  StGraphData() = default;
-
   StGraphData(const std::vector<StBoundary>& st_boundaries,
               const apollo::common::TrajectoryPoint& init_point,
               const SpeedLimit& speed_limit, const double path_data_length);
@@ -44,7 +42,7 @@ class StGraphData {
 
   const apollo::common::TrajectoryPoint& init_point() const;
 
-  const SpeedLimit speed_limit() const;
+  const SpeedLimit& speed_limit() const;
 
   double path_data_length() const;
 

modules/planning/tasks/st_graph/st_graph_data_test.cc

@@ -29,20 +29,6 @@ namespace apollo {
 namespace planning {
 
 TEST(StGraphDataTest, basic_test) {
-  StGraphData st_graph_data;
-  EXPECT_EQ(st_graph_data.st_boundaries().size(), 0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().x(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().y(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().z(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().theta(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().kappa(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().dkappa(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().path_point().ddkappa(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().v(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().a(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.init_point().relative_time(), 0.0);
-  EXPECT_DOUBLE_EQ(st_graph_data.path_data_length(), 0.0);
-
   std::vector<StBoundary> boundary_vec;
   boundary_vec.push_back(StBoundary());
   apollo::common::TrajectoryPoint traj_point;