Simple code clean of prediction module.

modules/prediction/evaluator/evaluator_factory.cc

@@ -16,8 +16,8 @@
 
 #include "modules/prediction/evaluator/evaluator_factory.h"
 
-#include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
 #include "modules/common/log.h"
+#include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/evaluator/evaluator_factory.h

@@ -24,10 +24,10 @@
 
 #include <memory>
 
+#include "modules/common/macro.h"
+#include "modules/common/util/factory.h"
 #include "modules/prediction/evaluator/evaluator.h"
 #include "modules/prediction/proto/prediction_conf.pb.h"
-#include "modules/common/util/factory.h"
-#include "modules/common/macro.h"
 
 /**
  * @namespace apollo::prediction

modules/prediction/evaluator/evaluator_manager.cc

@@ -16,10 +16,10 @@
 
 #include "modules/prediction/evaluator/evaluator_manager.h"
 
+#include "modules/common/log.h"
 #include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
 #include "modules/prediction/container/container_manager.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
-#include "modules/common/log.h"
 
 namespace apollo {
 namespace prediction {
@@ -64,11 +64,8 @@ void EvaluatorManager::Init(const PredictionConf& config) {
 
 Evaluator* EvaluatorManager::GetEvaluator(
     const ObstacleConf::EvaluatorType& type) {
-  if (evaluators_.find(type) != evaluators_.end()) {
-    return evaluators_[type].get();
-  } else {
-    return nullptr;
-  }
+  auto it = evaluators_.find(type);
+  return it != evaluators_.end() ? it->second.get() : nullptr;
 }
 
 void EvaluatorManager::Run(

modules/prediction/evaluator/evaluator_manager.h

@@ -84,8 +84,7 @@ class EvaluatorManager {
   void RegisterEvaluators();
 
  private:
-  std::map<ObstacleConf::EvaluatorType,
-      std::unique_ptr<Evaluator>> evaluators_;
+  std::map<ObstacleConf::EvaluatorType, std::unique_ptr<Evaluator>> evaluators_;
 
   ObstacleConf::EvaluatorType vehicle_on_lane_evaluator_ =
       ObstacleConf::MLP_EVALUATOR;

modules/prediction/evaluator/evaluator_manager_test.cc

@@ -14,13 +14,13 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include <string>
+#include "modules/prediction/evaluator/evaluator_manager.h"
 
+#include <string>
 #include "gtest/gtest.h"
 
-#include "modules/prediction/evaluator/evaluator_manager.h"
-#include "modules/prediction/proto/prediction_conf.pb.h"
 #include "modules/common/util/file.h"
+#include "modules/prediction/proto/prediction_conf.pb.h"
 
 namespace apollo {
 namespace prediction {
@@ -38,10 +38,8 @@ class EvaluatorManagerTest : public ::testing::Test {
 
 TEST_F(EvaluatorManagerTest, GetEvaluators) {
   std::string conf_file = "modules/prediction/testdata/prediction_conf.pb.txt";
-  bool ret_load_conf = ::apollo::common::util::GetProtoFromFile(conf_file,
-                                                                &conf_);
-  EXPECT_TRUE(ret_load_conf);
-  EXPECT_TRUE(conf_.IsInitialized());
+  CHECK(apollo::common::util::GetProtoFromFile(conf_file, &conf_))
+      << "Failed to load " << conf_file;
 
   manager_->Init(conf_);
 

modules/prediction/evaluator/vehicle/mlp_evaluator.cc

@@ -14,15 +14,16 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
+
 #include <cmath>
 #include <numeric>
 
-#include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
-#include "modules/prediction/common/prediction_gflags.h"
 #include "modules/common/math/math_utils.h"
-#include "modules/prediction/common/prediction_util.h"
-#include "modules/map/proto/map_lane.pb.h"
 #include "modules/common/util/file.h"
+#include "modules/map/proto/map_lane.pb.h"
+#include "modules/prediction/common/prediction_gflags.h"
+#include "modules/prediction/common/prediction_util.h"
 
 namespace apollo {
 namespace prediction {
@@ -80,11 +81,12 @@ void MLPEvaluator::ExtractFeatureValues(Obstacle* obstacle_ptr,
   feature_values_.clear();
   int id = obstacle_ptr->id();
   std::vector<double> obstacle_feature_values;
-  if (obstacle_feature_values_map_.find(id) ==
-      obstacle_feature_values_map_.end()) {
+
+  auto it = obstacle_feature_values_map_.find(id);
+  if (it == obstacle_feature_values_map_.end()) {
     SetObstacleFeatureValues(obstacle_ptr, &obstacle_feature_values);
   } else {
-    obstacle_feature_values = obstacle_feature_values_map_[id];
+    obstacle_feature_values = it->second;
   }
 
   if (obstacle_feature_values.size() != OBSTACLE_FEATURE_SIZE) {

modules/prediction/evaluator/vehicle/mlp_evaluator.h

@@ -17,15 +17,15 @@
 #ifndef MODULES_PREDICTION_EVALUATOR_VEHICLE_MLP_EVALUATOR_H_
 #define MODULES_PREDICTION_EVALUATOR_VEHICLE_MLP_EVALUATOR_H_
 
-#include <vector>
-#include <unordered_map>
-#include <string>
 #include <memory>
+#include <string>
+#include <unordered_map>
+#include <vector>
 
-#include "modules/prediction/evaluator/evaluator.h"
 #include "modules/prediction/container/obstacles/obstacle.h"
-#include "modules/prediction/proto/lane_graph.pb.h"
+#include "modules/prediction/evaluator/evaluator.h"
 #include "modules/prediction/proto/fnn_vehicle_model.pb.h"
+#include "modules/prediction/proto/lane_graph.pb.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/evaluator/vehicle/mlp_evaluator_test.cc

@@ -21,21 +21,21 @@
 
 #include "gtest/gtest.h"
 
-#include "modules/perception/proto/perception_obstacle.pb.h"
-#include "modules/prediction/common/prediction_gflags.h"
 #include "modules/common/util/file.h"
+#include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/container/obstacles/obstacle.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
+#include "modules/perception/proto/perception_obstacle.pb.h"
 
 namespace apollo {
 namespace prediction {
 
 class MLPEvaluatorTest : public ::testing::Test {
  public:
-  virtual void SetUp() {
+  void SetUp() override {
     std::string file =
       "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    apollo::common::util::GetProtoFromFile(file, &perception_obstacles_);
+    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
     FLAGS_map_file = "modules/prediction/testdata/kml_map.bin";
   }
  protected:

modules/prediction/prediction.cc

@@ -69,11 +69,8 @@ Status Prediction::Init() {
   EvaluatorManager::instance()->Init(prediction_conf_);
   PredictorManager::instance()->Init(prediction_conf_);
 
-  CHECK(AdapterManager::GetLocalization())
-      << "Localization is not ready.";
-
-  CHECK(AdapterManager::GetPerceptionObstacles())
-      << "Perception is not ready.";
+  CHECK(AdapterManager::GetLocalization()) << "Localization is not ready.";
+  CHECK(AdapterManager::GetPerceptionObstacles()) << "Perception is not ready.";
 
   // Set perception obstacle callback function
   AdapterManager::SetPerceptionObstaclesCallback(&Prediction::OnPerception,

modules/prediction/predictor/pedestrian/regional_predictor.cc

@@ -14,11 +14,12 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include <limits>
+#include "modules/prediction/predictor/pedestrian/regional_predictor.h"
+
 #include <cmath>
+#include <limits>
 #include <utility>
 
-#include "modules/prediction/predictor/pedestrian/regional_predictor.h"
 #include "modules/prediction/common/prediction_util.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/common/math/kalman_filter.h"
@@ -154,8 +155,8 @@ void RegionalPredictor::GenerateMovingTrajectory(
   std::vector<TrajectoryPoint> right_points;
 
   DrawMovingTrajectory(position, velocity, acc,
-      obstacle->kf_pedestrian_tracker(), total_time,
-      &left_points, &right_points);
+                       obstacle->kf_pedestrian_tracker(), total_time,
+                       &left_points, &right_points);
   int start_index = GetTrajectorySize();
 
   Trajectory left_trajectory;

modules/prediction/predictor/predictor.cc

@@ -32,19 +32,14 @@ int Predictor::GetTrajectorySize() {
 void Predictor::GenerateTrajectory(
     const std::vector<::apollo::common::TrajectoryPoint>& points,
     Trajectory* trajectory) {
-  if (points.size() <= 0) {
-    return;
-  }
-
-  for (const auto& point : points) {
-    trajectory->add_trajectory_point()->CopyFrom(point);
-  }
+  trajectory->mutable_trajectory_point()->MergeFrom(
+      {points.begin(), points.end()});
 }
 
 void Predictor::SetEqualProbability(double probability, int start_index) {
   int num = GetTrajectorySize();
-  if (start_index >= 0 && num > 0 && num > start_index) {
-    probability = probability / static_cast<double>(num - start_index);
+  if (start_index >= 0 && num > start_index) {
+    probability /= static_cast<double>(num - start_index);
     for (int i = start_index; i < num; ++i) {
       prediction_obstacle_.mutable_trajectory(i)->set_probability(probability);
     }

modules/prediction/predictor/predictor_factory.cc

@@ -16,10 +16,9 @@
 
 #include "modules/prediction/predictor/predictor_factory.h"
 
-#include "modules/prediction/predictor/vehicle/lane_sequence_predictor.h"
-#include "modules/prediction/predictor/vehicle/free_move_predictor.h"
-
 #include "modules/common/log.h"
+#include "modules/prediction/predictor/vehicle/free_move_predictor.h"
+#include "modules/prediction/predictor/vehicle/lane_sequence_predictor.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/predictor/predictor_manager.cc

@@ -14,10 +14,10 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include <memory>
-
 #include "modules/prediction/predictor/predictor_manager.h"
 
+#include <memory>
+
 #include "modules/prediction/predictor/vehicle/lane_sequence_predictor.h"
 #include "modules/prediction/predictor/vehicle/free_move_predictor.h"
 #include "modules/prediction/predictor/pedestrian/regional_predictor.h"
@@ -80,15 +80,11 @@ void PredictorManager::Init(const PredictionConf& config) {
 
 Predictor* PredictorManager::GetPredictor(
     const ObstacleConf::PredictorType& type) {
-  if (predictors_.find(type) != predictors_.end()) {
-    return predictors_[type].get();
-  } else {
-    return nullptr;
-  }
+  auto it = predictors_.find(type);
+  return it != predictors_.end() ? it->second.get() : nullptr;
 }
 
-void PredictorManager::Run(
-    const PerceptionObstacles& perception_obstacles) {
+void PredictorManager::Run(const PerceptionObstacles& perception_obstacles) {
   prediction_obstacles_.Clear();
   ObstaclesContainer *container = dynamic_cast<ObstaclesContainer*>(
       ContainerManager::instance()->GetContainer(

modules/prediction/predictor/predictor_manager.h

@@ -22,7 +22,6 @@
 #ifndef MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_
 #define MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_
 
-#include <unordered_map>
 #include <map>
 #include <memory>
 
@@ -92,8 +91,7 @@ class PredictorManager {
   void RegisterPredictors();
 
  private:
-  std::map<ObstacleConf::PredictorType,
-      std::unique_ptr<Predictor>> predictors_;
+  std::map<ObstacleConf::PredictorType, std::unique_ptr<Predictor>> predictors_;
 
   ObstacleConf::PredictorType vehicle_on_lane_predictor_ =
       ObstacleConf::LANE_SEQUENCE_PREDICTOR;

modules/prediction/predictor/predictor_manager_test.cc

@@ -14,11 +14,11 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include "modules/prediction/predictor/predictor_manager.h"
+
 #include <string>
 
 #include "gtest/gtest.h"
-
-#include "modules/prediction/predictor/predictor_manager.h"
 #include "modules/prediction/proto/prediction_conf.pb.h"
 #include "modules/common/util/file.h"
 
@@ -27,7 +27,7 @@ namespace prediction {
 
 class PredictorManagerTest : public ::testing::Test {
  public:
-  virtual void SetUp() {
+  void SetUp() override {
     manager_ = PredictorManager::instance();
   }
 
@@ -38,10 +38,8 @@ class PredictorManagerTest : public ::testing::Test {
 
 TEST_F(PredictorManagerTest, GetPredictor) {
   std::string conf_file = "modules/prediction/testdata/prediction_conf.pb.txt";
-  bool ret_load_conf = ::apollo::common::util::GetProtoFromFile(conf_file,
-                                                                &conf_);
-  EXPECT_TRUE(ret_load_conf);
-  EXPECT_TRUE(conf_.IsInitialized());
+  CHECK(apollo::common::util::GetProtoFromFile(conf_file, &conf_))
+      << "Failed to load " << conf_file;
 
   manager_->Init(conf_);
 

modules/prediction/predictor/vehicle/free_move_predictor.cc

@@ -16,10 +16,10 @@
 
 #include "modules/prediction/predictor/vehicle/free_move_predictor.h"
 
-#include <vector>
 #include <cmath>
 #include <limits>
 #include <utility>
+#include <vector>
 #include "Eigen/Dense"
 
 #include "modules/prediction/common/prediction_gflags.h"
@@ -114,13 +114,13 @@ void FreeMovePredictor::DrawFreeMoveTrajectoryPoints(
   for (size_t i = 0; i < static_cast<size_t>(total_time / freq); ++i) {
     double speed = std::hypot(v_x, v_y);
     if (speed <= std::numeric_limits<double>::epsilon()) {
-        speed = 0.0;
-        v_x = 0.0;
-        v_y = 0.0;
-        acc_x = 0.0;
-        acc_y = 0.0;
+      speed = 0.0;
+      v_x = 0.0;
+      v_y = 0.0;
+      acc_x = 0.0;
+      acc_y = 0.0;
     } else if (speed > FLAGS_max_speed) {
-        speed = FLAGS_max_speed;
+      speed = FLAGS_max_speed;
     }
 
     // update theta

modules/prediction/predictor/vehicle/free_move_predictor_test.cc

@@ -36,7 +36,7 @@ class FreeMovePredictorTest : public ::testing::Test {
   virtual void SetUp() {
     std::string file =
       "modules/prediction/testdata/single_perception_vehicle_offlane.pb.txt";
-    apollo::common::util::GetProtoFromFile(file, &perception_obstacles_);
+    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
     FLAGS_map_file = "modules/prediction/testdata/kml_map.bin";
     FLAGS_p_var = 0.1;
     FLAGS_q_var = 0.01;