Prediction: updated function declaration

modules/prediction/common/prediction_map.cc

@@ -169,20 +169,20 @@ double PredictionMap::PathHeading(
   return HeadingOnLane(lane_info, s);
 }
 
-int PredictionMap::SmoothPointFromLane(
+bool PredictionMap::SmoothPointFromLane(
     const std::string& id,
     const double s, const double l,
     Eigen::Vector2d* point,
     double* heading) {
   if (point == nullptr || heading == nullptr) {
-    return -1;
+    return false;
   }
   std::shared_ptr<const LaneInfo> lane = LaneById(id);
   apollo::common::PointENU hdmap_point = lane->get_smooth_point(s);
   *heading = PathHeading(lane, hdmap_point);
   point->operator[](0) = hdmap_point.x() - std::sin(*heading) * l;
   point->operator[](1) = hdmap_point.y() + std::cos(*heading) * l;
-  return 0;
+  return true;
 }
 
 void PredictionMap::NearbyLanesByCurrentLanes(

modules/prediction/common/prediction_map.h

@@ -68,7 +68,7 @@ class PredictionMap {
    * @param id The ID of the target lane ID in the form of string.
    * @return A shared pointer to the lane with the input lane ID.
    */
-  std::shared_ptr<const apollo::hdmap::LaneInfo> LaneById(
+  static std::shared_ptr<const apollo::hdmap::LaneInfo> LaneById(
       const std::string& id);
 
   /**
@@ -128,9 +128,9 @@ class PredictionMap {
    * @param l The lateral coordinate of the position.
    * @param point The point corresponding to the s,l-value coordinate.
    * @param heading The lane heading on the point.
-   * @return If the process is successful. 0: success, -1: failure.
+   * @return If the process is successful.
    */
-  int SmoothPointFromLane(
+  bool SmoothPointFromLane(
       const std::string& id, const double s,
       const double l, Eigen::Vector2d* point,
       double* heading);
@@ -256,7 +256,7 @@ class PredictionMap {
    * @param lane_id The lane ID.
    * @return Integer corresponding to the lane turn type.
    */
-  int LaneTurnType(const std::string& lane_id);
+  static int LaneTurnType(const std::string& lane_id);
 
  private:
   DECLARE_SINGLETON(PredictionMap);

modules/prediction/common/prediction_map_test.cc

@@ -165,7 +165,7 @@ TEST_F(PredictionMapTest, get_smooth_point_from_lane) {
   double heading = M_PI;
 
   Eigen::Vector2d point;
-  EXPECT_EQ(0, map_->SmoothPointFromLane(id, s, l, &point, &heading));
+  EXPECT_TRUE(map_->SmoothPointFromLane(id, s, l, &point, &heading));
   EXPECT_DOUBLE_EQ(124.85930930657942, point.x());
   EXPECT_DOUBLE_EQ(348.52732962417451, point.y());
   EXPECT_DOUBLE_EQ(-0.061427808505166936, heading);

modules/prediction/predictor/vehicle/lane_sequence_predictor.cc

@@ -180,8 +180,7 @@ void LaneSequencePredictor::DrawLaneSequenceTrajectoryPoints(
   for (size_t i = 0; i < static_cast<size_t>(total_time / freq); ++i) {
     Eigen::Vector2d point;
     double theta = M_PI;
-    if (map->SmoothPointFromLane(lane_id,
-                                 lane_s, lane_l, &point, &theta) != 0) {
+    if (!map->SmoothPointFromLane(lane_id, lane_s, lane_l, &point, &theta)) {
       AERROR << "Unable to get smooth point from lane [" << lane_id
              << "] with s [" << lane_s << "] and l [" << lane_l
              << "]";