Perception: removed unsafe element wise copy constructor/functions.

modules/perception/obstacle/lidar/tracker/hm_tracker/tracked_object.cc

@@ -21,8 +21,6 @@
 namespace apollo {
 namespace perception {
 
-TrackedObject::TrackedObject() {}
-
 TrackedObject::TrackedObject(ObjectPtr obj_ptr) : object_ptr(obj_ptr) {
   if (object_ptr != nullptr) {
     barycenter = GetCloudBarycenter<apollo::perception::pcl_util::Point>(
@@ -40,52 +38,10 @@ TrackedObject::TrackedObject(ObjectPtr obj_ptr) : object_ptr(obj_ptr) {
   }
 }
 
-TrackedObject::TrackedObject(const TrackedObject& rhs) {
-  object_ptr = rhs.object_ptr;
-  center = rhs.center;
-  direction = rhs.direction;
-  lane_direction = rhs.lane_direction;
-  size = rhs.size;
-  type = rhs.type;
-  barycenter = rhs.barycenter;
-  anchor_point = rhs.anchor_point;
-  velocity = rhs.velocity;
-  acceleration = rhs.acceleration;
-  type = rhs.type;
-  association_score = rhs.association_score;
-}
-
-TrackedObject& TrackedObject::operator=(const TrackedObject& rhs) {
-  object_ptr = rhs.object_ptr;
-  center = rhs.center;
-  direction = rhs.direction;
-  lane_direction = rhs.lane_direction;
-  size = rhs.size;
-  type = rhs.type;
-  barycenter = rhs.barycenter;
-  anchor_point = rhs.anchor_point;
-  velocity = rhs.velocity;
-  acceleration = rhs.acceleration;
-  type = rhs.type;
-  association_score = rhs.association_score;
-  return (*this);
-}
-
 void TrackedObject::clone(const TrackedObject& rhs) {
+  *this = rhs;
   object_ptr.reset(new Object());
   object_ptr->clone(*rhs.object_ptr);
-
-  center = rhs.center;
-  direction = rhs.direction;
-  lane_direction = rhs.lane_direction;
-  size = rhs.size;
-  type = rhs.type;
-  barycenter = rhs.barycenter;
-  anchor_point = rhs.anchor_point;
-  velocity = rhs.velocity;
-  acceleration = rhs.acceleration;
-  type = rhs.type;
-  association_score = rhs.association_score;
 }
 
 }  // namespace perception

modules/perception/obstacle/lidar/tracker/hm_tracker/tracked_object.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ_H_
-#define MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ_H_
+#ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJECT_H_
+#define MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJECT_H_
 
 #include <memory>
 #include <string>
@@ -31,10 +31,10 @@ struct TrackedObject {
   /* NEED TO NOTICE: All the states of track would be collected mainly based on
    * the states of tracked object. Thus, update tracked object's state when you
    * update the state of track !!! */
-  TrackedObject();
+  TrackedObject() = default;
   explicit TrackedObject(ObjectPtr obj_ptr);
-  TrackedObject(const TrackedObject& rhs);
-  TrackedObject& operator=(const TrackedObject& rhs);
+
+  // deep copy (copy point clonds)
   void clone(const TrackedObject& rhs);
 
   // cloud
@@ -68,4 +68,4 @@ typedef std::shared_ptr<const TrackedObject> TrackedObjectConstPtr;
 }  // namespace perception
 }  // namespace apollo
 
-#endif  // MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJ_H_
+#endif  // MODULES_PERCEPTION_OBSTACLE_LIDAR_TRACKER_HM_TRACKER_TRACKED_OBJECT_H_