planning: rename some basic class names for more clairty (#530)

modules/planning/common/BUILD

@@ -51,6 +51,7 @@ cc_library(
         "obstacle.h",
     ],
     deps = [
+        ":indexed_list",
         "//modules/common/math:box2d",
         "//modules/common/math:polygon2d",
         "//modules/perception/proto:perception_proto",
@@ -69,6 +70,7 @@ cc_library(
         "path_obstacle.h",
     ],
     deps = [
+        ":indexed_list",
         ":obstacle",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/reference_line",
@@ -100,7 +102,6 @@ cc_library(
         "path_decision.h",
     ],
     deps = [
-        ":indexed_list",
         ":obstacle",
         ":path_obstacle",
         "//modules/planning/reference_line",
@@ -150,7 +151,6 @@ cc_library(
         "frame.h",
     ],
     deps = [
-        ":indexed_list",
         ":indexed_queue",
         ":obstacle",
         ":path_decision",

modules/planning/common/frame.cc

@@ -193,8 +193,7 @@ bool Frame::SmoothReferenceLine(const hdmap::Path &hdmap_path,
   return true;
 }
 
-const Obstacles &Frame::GetObstacles() const { return obstacles_; }
-Obstacles *Frame::MutableObstacles() { return &obstacles_; }
+const IndexedObstacles &Frame::GetObstacles() const { return obstacles_; }
 
 std::string Frame::DebugString() const {
   return "Frame: " + std::to_string(sequence_num_);

modules/planning/common/frame.h

@@ -30,7 +30,6 @@
 
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/map/pnc_map/pnc_map.h"
-#include "modules/planning/common/indexed_list.h"
 #include "modules/planning/common/indexed_queue.h"
 #include "modules/planning/common/obstacle.h"
 #include "modules/planning/common/path_decision.h"
@@ -42,8 +41,6 @@
 namespace apollo {
 namespace planning {
 
-using Obstacles = IndexedList<std::string, Obstacle>;
-
 class Frame {
  public:
   Frame(const uint32_t sequence_num);
@@ -66,8 +63,7 @@ class Frame {
   PlanningData *mutable_planning_data();
   std::string DebugString() const;
 
-  const Obstacles &GetObstacles() const;
-  Obstacles *MutableObstacles();
+  const IndexedObstacles &GetObstacles() const;
 
   const ADCTrajectory &GetADCTrajectory() const;
   ADCTrajectory *MutableADCTrajectory();
@@ -129,7 +125,7 @@ class Frame {
 
   routing::RoutingResponse routing_result_;
   prediction::PredictionObstacles prediction_;
-  Obstacles obstacles_;
+  IndexedObstacles obstacles_;
   std::unique_ptr<PathDecision> path_decision_;
   uint32_t sequence_num_ = 0;
   localization::Pose init_pose_;

modules/planning/common/obstacle.h

@@ -29,12 +29,14 @@
 
 #include "modules/common/math/box2d.h"
 #include "modules/common/math/vec2d.h"
+#include "modules/planning/common/indexed_list.h"
 
 namespace apollo {
 namespace planning {
 
 class Obstacle;
 using ConstObstacleList = std::vector<const Obstacle *>;
+using IndexedObstacles = IndexedList<std::string, Obstacle>;
 
 class Obstacle {
  public:

modules/planning/common/path_decision.cc

@@ -38,7 +38,7 @@ void PathDecision::Init(const std::vector<const Obstacle *> &obstacles) {
   }
 }
 
-const PathObstacles &PathDecision::path_obstacles() const {
+const IndexedPathObstacles &PathDecision::path_obstacles() const {
   return path_obstacles_;
 }
 

modules/planning/common/path_decision.h

@@ -33,14 +33,12 @@
 namespace apollo {
 namespace planning {
 
-using PathObstacles = IndexedList<std::string, PathObstacle>;
-
 class PathDecision {
  public:
   PathDecision(const std::vector<const Obstacle *> &obstacles,
                const ReferenceLine &reference_line);
 
-  const PathObstacles &path_obstacles() const;
+  const IndexedPathObstacles &path_obstacles() const;
 
   bool AddDecision(const std::string &tag, const std::string &object_id,
                    const ObjectDecisionType &decision);
@@ -52,7 +50,7 @@ class PathDecision {
 
  private:
   const ReferenceLine &reference_line_;
-  PathObstacles path_obstacles_;
+  IndexedPathObstacles path_obstacles_;
 };
 
 }  // namespace planning

modules/planning/common/path_obstacle.h

@@ -32,6 +32,7 @@
 
 #include "modules/common/math/box2d.h"
 #include "modules/common/math/vec2d.h"
+#include "modules/planning/common/indexed_list.h"
 #include "modules/planning/common/obstacle.h"
 #include "modules/planning/reference_line/reference_line.h"
 
@@ -39,9 +40,10 @@ namespace apollo {
 namespace planning {
 
 // a commonly used type to store Object Id and Object Decisions
-using DecisionList = std::vector<std::pair<std::string, ObjectDecisionType>>;
+using IdDecisionList = std::vector<std::pair<std::string, ObjectDecisionType>>;
 
 class PathObstacle;
+using IndexedPathObstacles = IndexedList<std::string, PathObstacle>;
 using ConstPathObstacleList = std::vector<const PathObstacle*>;
 
 /**

modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc

@@ -62,7 +62,7 @@ Status DpPolyPathOptimizer::Process(const SpeedData &speed_data,
     return Status(ErrorCode::PLANNING_ERROR, "dp_road_graph path generation");
   }
   const auto &obstacles = frame_->GetObstacles().Items();
-  DecisionList decision_list;
+  IdDecisionList decision_list;
   if (!dp_road_graph.ComputeObjectDecision(
           *path_data, speed_data, reference_line, obstacles, &decision_list)) {
     AERROR << "Failed to make decision based on tunnel";

modules/planning/optimizer/dp_poly_path/dp_road_graph.cc

@@ -227,7 +227,7 @@ bool DPRoadGraph::ComputeObjectDecision(const PathData &path_data,
                                         const SpeedData &heuristic_speed_data,
                                         const ReferenceLine &reference_line,
                                         const ConstObstacleList &obstacles,
-                                        DecisionList *const decisions) {
+                                        IdDecisionList *const decisions) {
   CHECK_NOTNULL(decisions);
 
   std::vector<common::SLPoint> adc_sl_points;

modules/planning/optimizer/dp_poly_path/dp_road_graph.h

@@ -53,7 +53,7 @@ class DPRoadGraph {
                              const SpeedData &heuristic_speed_data,
                              const ReferenceLine &reference_line,
                              const ConstObstacleList &obstacles,
-                             DecisionList *const decisions);
+                             IdDecisionList *const decisions);
 
  private:
   /**