Merge pull request #14 from jinghaomiao/jinghao_dev

Added lint support for prediction module.

modules/prediction/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -28,3 +30,5 @@ cc_binary(
         "//external:gflags",
     ],
 )
+
+cpplint()

modules/prediction/common/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -9,3 +11,5 @@ cc_library(
         "//modules/prediction/proto:prediction_proto",
     ],
 )
+
+cpplint()

modules/prediction/common/prediction_gflags.cc

@@ -19,7 +19,8 @@
 // System gflags
 DEFINE_string(prediction_module_name, "prediction",
     "Default prediciton module name");
-DEFINE_string(prediction_conf_file, "modules/prediction/conf/prediction_conf.pb.txt",
+DEFINE_string(prediction_conf_file,
+    "modules/prediction/conf/prediction_conf.pb.txt",
     "Default conf file for prediction");
 
 // Features
@@ -32,4 +33,4 @@ DEFINE_double(p_var, 0.1, "Error covariance");
 DEFINE_double(go_approach_rate, 0.995,
     "The rate to approach to the reference line of going straight");
 DEFINE_double(cutin_approach_rate, 0.9,
-    "The rate to approach to the reference line of lane change");
\ No newline at end of file
+    "The rate to approach to the reference line of lane change");

modules/prediction/container/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -18,4 +20,6 @@ cc_library(
     deps = [
         "@com_github_google_protobuf//:protobuf"
     ]
-)
\ No newline at end of file
+)
+
+cpplint()
\ No newline at end of file

modules/prediction/container/container.h

@@ -50,7 +50,7 @@ class Container {
   virtual void Insert(const ::google::protobuf::Message& message) = 0;
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_CONTAINER_CONTAINER_H_
+#endif  // MODULES_PREDICTION_CONTAINER_CONTAINER_H_

modules/prediction/container/container_manager.cc

@@ -56,5 +56,5 @@ void ContainerManager::RegisterContainer(const std::string& name) {
   containers_[name] = CreateContainer(name);
 }
 
-} 
-}
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/container/container_manager.h

@@ -24,6 +24,7 @@
 
 #include <unordered_map>
 #include <string>
+#include <memory>
 
 #include "modules/prediction/container/container.h"
 #include "modules/common/macro.h"
@@ -65,7 +66,7 @@ class ContainerManager {
   DECLARE_SINGLETON(ContainerManager)
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_CONTAINER_CONTAINER_MANAGER_H_
+#endif  // MODULES_PREDICTION_CONTAINER_CONTAINER_MANAGER_H_

modules/prediction/container/obstacles/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -23,3 +25,5 @@ cc_library(
         "//modules/prediction/common:prediction_common",
     ],
 )
+
+cpplint()

modules/prediction/container/obstacles/obstacle.cc

@@ -19,6 +19,7 @@
 #include <iomanip>
 #include <cmath>
 #include <unordered_set>
+#include <utility>
 
 #include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"
@@ -42,7 +43,7 @@ double Damp(const double x, const double sigma) {
 
 }  // namespace
 
-Obstacle::Obstacle() : 
+Obstacle::Obstacle() :
     id_(-1),
     type_(PerceptionObstacle::UNKNOWN_MOVABLE),
     feature_history_(0),
@@ -88,14 +89,14 @@ Feature* Obstacle::mutable_feature(size_t i) {
 
 const Feature& Obstacle::latest_feature() {
   std::lock_guard<std::mutex> lock(mutex_);
-  CHECK(feature_history_.size() > 0);
+  CHECK_GT(feature_history_.size(), 0);
   return feature_history_.front();
 }
 
 Feature* Obstacle::mutable_latest_feature() {
   std::lock_guard<std::mutex> lock(mutex_);
 
-  CHECK(feature_history_.size() > 0);
+  CHECK_GT(feature_history_.size(), 0);
   return &(feature_history_.front());
 }
 
@@ -381,8 +382,8 @@ void Obstacle::InitKFMotionTracker(Feature* feature) {
   kf_motion_tracker_enabled_ = true;
 }
 
-void Obstacle::UpdateKFMotionTracker(Feature* feature) {  
-  double delta_ts = 0.0;  
+void Obstacle::UpdateKFMotionTracker(Feature* feature) {
+  double delta_ts = 0.0;
   if (feature_history_.size() > 0) {
     delta_ts = feature->timestamp() - feature_history_.front().timestamp();
   }

modules/prediction/container/obstacles/obstacle.h

@@ -39,7 +39,7 @@ namespace prediction {
 
 class Obstacle {
  public:
-  explicit Obstacle();
+  Obstacle();
 
   virtual ~Obstacle();
 
@@ -138,4 +138,4 @@ class Obstacle {
 }  // namespace prediction
 }  // namespace apollo
 
- #endif  // MODULES_PREDICTION_CONTAINER_OBSTACLES_OBSTACLE_H_
+#endif  // MODULES_PREDICTION_CONTAINER_OBSTACLES_OBSTACLE_H_

modules/prediction/container/obstacles/obstacles_container.h

@@ -32,7 +32,7 @@ class ObstaclesContainer : public Container {
   /**
    * @brief Constructor
    */
-  explicit ObstaclesContainer() = default;
+  ObstaclesContainer() = default;
 
   /**
    * @brief Destructor
@@ -43,10 +43,10 @@ class ObstaclesContainer : public Container {
    * @brief Insert a data message into the container
    * @param Data message to be inserted in protobuf
    */
-  virtual void Insert(const ::google::protobuf::Message& message) override;
+  void Insert(const ::google::protobuf::Message& message) override;
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_CONTAINER_OBSTACLES_OBSTACLES_H_
+#endif  // MODULES_PREDICTION_CONTAINER_OBSTACLES_OBSTACLES_H_

modules/prediction/container/pose/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -7,4 +9,6 @@ cc_library(
     deps = [
         "//modules/prediction/container:container",
     ]
-)
\ No newline at end of file
+)
+
+cpplint()
\ No newline at end of file

modules/prediction/container/pose/pose_container.h

@@ -32,7 +32,7 @@ class PoseContainer : public Container {
   /**
    * @brief Constructor
    */
-  explicit PoseContainer() = default;
+  PoseContainer() = default;
 
   /**
    * @brief Destructor
@@ -43,10 +43,10 @@ class PoseContainer : public Container {
    * @brief Insert a data message into the container
    * @param Data message to be inserted in protobuf
    */
-  virtual void Insert(const ::google::protobuf::Message& message) override;
+  void Insert(const ::google::protobuf::Message& message) override;
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_CONTAINER_POSE_OBSTACLES_H_
+#endif  // MODULES_PREDICTION_CONTAINER_POSE_OBSTACLES_H_

modules/prediction/evaluator/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -31,4 +33,6 @@ cc_library(
     deps = [
     
     ]
-)
\ No newline at end of file
+)
+
+cpplint()
\ No newline at end of file

modules/prediction/evaluator/evaluator.h

@@ -44,7 +44,8 @@ class Evaluator {
   virtual ~Evaluator() = default;
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
+
+#endif  // MODULES_PREDICTION_EVALUATOR_EVALUATOR_H_
 
-#endif // MODULES_PREDICTION_EVALUATOR_EVALUATOR_H_

modules/prediction/evaluator/evaluator_factory.cc

@@ -39,5 +39,5 @@ std::unique_ptr<Evaluator> EvaluatorFactory::CreateEvaluator(
   return evaluator;
 }
 
-}
-}
\ No newline at end of file
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/evaluator/evaluator_factory.h

@@ -57,7 +57,7 @@ class EvaluatorFactory
   DECLARE_SINGLETON(EvaluatorFactory);
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_EVALUATOR_EVALUATOR_FACTORY_H_
\ No newline at end of file
+#endif  // MODULES_PREDICTION_EVALUATOR_EVALUATOR_FACTORY_H_

modules/prediction/evaluator/evaluator_manager.cc

@@ -28,5 +28,5 @@ const Evaluator* EvaluatorManager::GetEvaluator() {
 void EvaluatorManager::Run(
     const ::apollo::perception::PerceptionObstacles& perception_obstacles) {}
 
-} 
-}
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/evaluator/evaluator_manager.h

@@ -48,12 +48,13 @@ class EvaluatorManager {
    */
   const Evaluator* GetEvaluator();
 
-  void Run(const ::apollo::perception::PerceptionObstacles& perception_obstacles);
+  void Run(
+      const ::apollo::perception::PerceptionObstacles& perception_obstacles);
 
   DECLARE_SINGLETON(EvaluatorManager)
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_EVALUATOR_EVALUATOR_MANAGER_H_
+#endif  // MODULES_PREDICTION_EVALUATOR_EVALUATOR_MANAGER_H_

modules/prediction/prediction.cc

@@ -16,13 +16,13 @@
 
 #include "modules/prediction/prediction.h"
 
-#include "modules/prediction/proto/prediction_obstacle.pb.h"
-
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/prediction/container/container_manager.h"
 #include "modules/prediction/evaluator/evaluator_manager.h"
 #include "modules/prediction/predictor/predictor_manager.h"
 #include "modules/prediction/common/prediction_gflags.h"
+#include "modules/prediction/proto/prediction_obstacle.pb.h"
+
 #include "modules/common/util/file.h"
 
 namespace apollo {
@@ -81,7 +81,6 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
   }
   ContainerManager::instance()
       ->mutable_container("Obstacles")->Insert(perception_obstacles);
-  ContainerManager::instance()->mutable_container("Obstacles")->Insert(perception_obstacles);
   EvaluatorManager::instance()->Run(perception_obstacles);
   PredictorManager::instance()->Run(perception_obstacles);
   // AdapterManager::PublishPrediction(PredictorManager::instance()->GetPredictions());

modules/prediction/prediction.h

@@ -21,6 +21,8 @@
 #ifndef MODULES_PREDICTION_PREDICTION_H_
 #define MODULES_PREDICTION_PREDICTION_H_
 
+#include <string>
+
 #include "ros/include/ros/ros.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/prediction/proto/prediction_conf.pb.h"
@@ -38,30 +40,30 @@ class Prediction : public apollo::common::ApolloApp {
   /**
    * @brief Destructor
    */
-  virtual ~Prediction() = default;
+  ~Prediction() = default;
 
   /**
    * @brief Get name of the node
    * @return Name of the node
    */
-  virtual std::string Name() const override;
+  std::string Name() const override;
 
   /**
    * @brief Initialize the node
    * @return Status of the initialization
    */
-  virtual ::apollo::common::Status Init() override;
+  ::apollo::common::Status Init() override;
 
   /**
    * @brief Start the node
    * @return Status of the starting process
    */
-  virtual ::apollo::common::Status Start() override;
+  ::apollo::common::Status Start() override;
 
   /**
    * @brief Stop the node
    */
-  virtual void Stop() override;
+  void Stop() override;
 
  private:
   ::apollo::common::Status OnError(const std::string& error_msg);

modules/prediction/predictor/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
@@ -31,4 +33,6 @@ cc_library(
     deps = [
     
     ]
-)
\ No newline at end of file
+)
+
+cpplint()
\ No newline at end of file

modules/prediction/predictor/predictor.h

@@ -44,7 +44,7 @@ class Predictor {
   virtual ~Predictor() = default;
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_PREDICTOR_PREDICTOR_H_
+#endif  // MODULES_PREDICTION_PREDICTOR_PREDICTOR_H_

modules/prediction/predictor/predictor_factory.cc

@@ -39,5 +39,5 @@ std::unique_ptr<Predictor> PredictorFactory::CreatePredictor(
   return predictor;
 }
 
-}
-}
\ No newline at end of file
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/predictor/predictor_factory.h

@@ -57,7 +57,7 @@ class PredictorFactory
   DECLARE_SINGLETON(PredictorFactory);
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
 
-#endif // MODULES_PREDICTION_PREDICTOR_PREDICTOR_FACTORY_H_
\ No newline at end of file
+#endif  // MODULES_PREDICTION_PREDICTOR_PREDICTOR_FACTORY_H_

modules/prediction/predictor/predictor_manager.cc

@@ -28,5 +28,6 @@ const Predictor* PredictorManager::GetPredictor() {
 void PredictorManager::Run(
     const ::apollo::perception::PerceptionObstacles& perception_obstacles) {}
 
-} 
-}
+}  // namespace prediction
+}  // namespace apollo
+

modules/prediction/predictor/predictor_manager.h

@@ -48,12 +48,14 @@ class PredictorManager {
    */
   const Predictor* GetPredictor();
 
-  void Run(const ::apollo::perception::PerceptionObstacles& perception_obstacles);
+  void Run(
+      const ::apollo::perception::PerceptionObstacles& perception_obstacles);
 
   DECLARE_SINGLETON(PredictorManager)
 };
 
-} // namespace prediction
-} // namespace apollo
+}  // namespace prediction
+}  // namespace apollo
+
+#endif  // MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_
 
-#endif // MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_