renamed path_point.proto to pnc_point.proto

* not all points defined in path_point.proto are path points.
* the points defined in path_point.proto are commonly used in PnC modules

modules/common/proto/BUILD

@@ -50,9 +50,9 @@ cc_proto_library(
 )
 
 cc_proto_library(
-    name = "path_point_proto",
+    name = "pnc_point_proto",
     protos = [
-        "path_point.proto",
+        "pnc_point.proto",
     ],
 )
 
@@ -62,7 +62,7 @@ py_proto_compile(
         "error_code.proto",
         "geometry.proto",
         "header.proto",
-        "path_point.proto",
+        "pnc_point.proto",
         "vehicle_signal.proto",
     ],
 )

modules/common/proto/path_point.proto → modules/common/proto/pnc_point.proto

 syntax = "proto2";
 
+// Defined Point types that are commoly used in PnC (Planning and Control) modules.
+
 package apollo.common;
 
 message SLPoint {

modules/common/util/BUILD

@@ -16,7 +16,7 @@ cc_library(
     ],
     deps = [
         "//modules/common/math",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/time",
         "//modules/map/proto:map_proto",
     ],

modules/common/util/util.h

@@ -26,7 +26,7 @@
 #include <string>
 #include <utility>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/map/proto/map_id.pb.h"
 
 /**

modules/control/common/BUILD

@@ -65,7 +65,7 @@ cc_library(
         "//modules/common:log",
         "//modules/common/math:linear_interpolation",
         "//modules/common/math:search",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/vehicle_state",
         "//modules/planning/proto:planning_proto",
     ],

modules/control/common/trajectory_analyzer.h

@@ -26,7 +26,7 @@
 
 #include "modules/planning/proto/planning.pb.h"
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
 
 /**

modules/dreamview/backend/simulation_world/trajectory_point_collector.h

@@ -22,7 +22,7 @@
 #ifndef MODULES_DREAMVIEW_BACKEND_SIM_WORLD_TRAJECTORY_POINT_COLLECTOR_H_
 #define MODULES_DREAMVIEW_BACKEND_SIM_WORLD_TRAJECTORY_POINT_COLLECTOR_H_
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/dreamview/proto/simulation_world.pb.h"
 
 #include "modules/common/configs/vehicle_config_helper.h"

modules/planning/BUILD

@@ -15,7 +15,7 @@ cc_library(
         "//modules/common:apollo_app",
         "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/vehicle_state",
         "//modules/decision/proto:decision_proto",
         "//modules/perception/proto:perception_proto",

modules/planning/common/BUILD

@@ -82,7 +82,7 @@ cc_library(
     ],
     deps = [
         ":decision_data",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/map/proto:map_proto",
         "//modules/planning/common/path:path_data",
         "//modules/planning/common/speed:speed_data",
@@ -170,7 +170,7 @@ cc_library(
     ],
     deps = [
         "//modules/common/math",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/math:hermite_spline",
         "//modules/planning/proto:planning_proto",
     ],

modules/planning/common/path/BUILD

@@ -11,7 +11,7 @@ cc_library(
         "discretized_path.h",
     ],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:planning_util",
     ],
 )
@@ -25,7 +25,7 @@ cc_library(
         "frenet_frame_path.h",
     ],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:planning_util",
     ],
 )

modules/planning/common/path/discretized_path.h

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace planning {

modules/planning/common/path/frenet_frame_path.cc

@@ -22,7 +22,7 @@
 #include <utility>
 
 #include "modules/common/log.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace planning {

modules/planning/common/path/frenet_frame_path.h

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace planning {

modules/planning/common/planning_data.h

@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/planning/common/decision_data.h"
 #include "modules/planning/common/path/path_data.h"

modules/planning/common/planning_util.h

@@ -23,7 +23,7 @@
 
 #include <string>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 
 /**

modules/planning/common/speed/BUILD

@@ -29,7 +29,7 @@ cc_library(
         ":st_point",
         "//external:gflags",
         "//modules/common/math",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common:planning_util",
         "//modules/planning/math:double",

modules/planning/common/speed/speed_data.h

@@ -23,7 +23,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace planning {

modules/planning/common/speed_limit.h

@@ -20,7 +20,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #ifndef MODULES_PLANNING_COMMON_SPEED_LIMIT_H_
 #define MODULES_PLANNING_COMMON_SPEED_LIMIT_H_

modules/planning/common/trajectory/BUILD

@@ -10,7 +10,7 @@ cc_library(
     deps = [
         "//external:gflags",
         "//modules/common/math",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
     ],
 )
 
@@ -24,7 +24,7 @@ cc_library(
     ],
     deps = [
         ":trajectory",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:planning_util",
         "@eigen//:eigen",
     ],
@@ -54,7 +54,7 @@ cc_library(
     ],
     deps = [
         ":discretized_trajectory",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
     ],
 )
 

modules/planning/common/trajectory/trajectory.h

@@ -21,7 +21,7 @@
 #ifndef MODULES_PLANNING_COMMON_TRAJECTORY_TRAJECTORY_H_
 #define MODULES_PLANNING_COMMON_TRAJECTORY_TRAJECTORY_H_
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace planning {

modules/planning/math/spiral_curve/BUILD

@@ -11,7 +11,7 @@ cc_library(
         "spiral_curve.h",
     ],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/status",
         "//modules/planning/proto:spiral_curve_config_proto",
     ],
@@ -43,7 +43,7 @@ cc_library(
         "//modules/common:log",
         "//modules/common/math",
         "//modules/common/proto:error_code_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "@eigen//:eigen",
     ],
 )
@@ -61,7 +61,7 @@ cc_library(
         ":spiral_formula",
         "//modules/common:log",
         "//modules/common/math",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "@eigen//:eigen",
     ],
 )

modules/planning/math/spiral_curve/cubic_spiral_curve.h

@@ -34,7 +34,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/math/spiral_curve/spiral_curve.h"
 
 namespace apollo {

modules/planning/math/spiral_curve/quintic_spiral_curve.h

@@ -36,7 +36,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/math/spiral_curve/spiral_curve.h"
 
 namespace apollo {

modules/planning/math/spiral_curve/spiral_curve.h

@@ -25,7 +25,7 @@
 #include <cmath>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/status/status.h"
 #include "modules/planning/proto/spiral_curve_config.pb.h"
 

modules/planning/optimizer/dp_poly_path/dp_road_graph.cc

@@ -29,7 +29,7 @@
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/log.h"
 #include "modules/common/proto/error_code.pb.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/common/path/frenet_frame_path.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/math/curve1d/quintic_polynomial_curve1d.h"

modules/planning/optimizer/dp_poly_path/dp_road_graph.h

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/status/status.h"
 #include "modules/planning/common/decision_data.h"

modules/planning/optimizer/dp_poly_path/path_sampler.cc

@@ -24,7 +24,7 @@
 
 #include "modules/planning/optimizer/dp_poly_path/path_sampler.h"
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/util/util.h"
 

modules/planning/optimizer/dp_poly_path/trajectory_cost.cc

@@ -24,7 +24,7 @@
 #include <cmath>
 
 #include "modules/common/math/vec2d.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {

modules/planning/optimizer/dp_st_speed/BUILD

@@ -28,7 +28,7 @@ cc_library(
         "dp_st_cost.h",
     ],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:data_center",
         "//modules/planning/math:double",
         "//modules/planning/optimizer/st_graph:st_graph_boundary",
@@ -48,7 +48,7 @@ cc_library(
         ":dp_st_cost",
         "//modules/common/configs/proto:vehicle_config_proto",
         "//modules/common/proto:common_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:data_center",
         "//modules/planning/common:decision_data",
         "//modules/planning/common/speed:speed_data",

modules/planning/optimizer/dp_st_speed/dp_st_boundary_mapper.cc

@@ -26,7 +26,7 @@
 #include <vector>
 
 #include "modules/common/math/vec2d.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/math/double.h"
 

modules/planning/optimizer/dp_st_speed/dp_st_cost.h

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/dp_st_speed_config.pb.h"
 
 #include "modules/planning/common/speed/st_point.h"

modules/planning/optimizer/dp_st_speed/dp_st_graph.cc

@@ -25,7 +25,7 @@
 #include <string>
 
 #include "modules/common/log.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/common/data_center.h"
 #include "modules/planning/math/double.h"
 

modules/planning/optimizer/path_optimizer.h

@@ -25,7 +25,7 @@
 
 #include "modules/planning/optimizer/optimizer.h"
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/status/status.h"
 #include "modules/planning/common/planning_data.h"

modules/planning/optimizer/qp_spline_path/BUILD

@@ -20,7 +20,7 @@ cc_library(
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/math",
         "//modules/common/math/qp_solver",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/util",
         "//modules/map/proto:map_proto",
         "//modules/planning/common:data_center",

modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc

@@ -24,7 +24,7 @@
 
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/macro.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/util/util.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/planning_util.h"

modules/planning/optimizer/qp_spline_path/qp_frenet_frame.h

@@ -29,7 +29,7 @@
 #include "Eigen/Core"
 
 #include "modules/common/configs/proto/vehicle_config.pb.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/common/obstacle.h"
 #include "modules/planning/common/planning_data.h"
 #include "modules/planning/common/speed/speed_data.h"

modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc

@@ -23,7 +23,7 @@
 
 #include "modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.h"
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/log.h"
 #include "modules/common/macro.h"

modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.h

@@ -24,7 +24,7 @@
 #include <memory>
 #include <string>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/qp_spline_path_config.pb.h"
 
 #include "modules/planning/common/decision_data.h"

modules/planning/optimizer/qp_spline_path/qp_spline_path_sampler.h

@@ -21,7 +21,7 @@
 #ifndef MODULES_PLANNING_OPTIMIZER_QP_SPLINE_PATH_QP_SPLINE_PATH_SAMPLER_H_
 #define MODULES_PLANNING_OPTIMIZER_QP_SPLINE_PATH_QP_SPLINE_PATH_SAMPLER_H_
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/qp_spline_path_config.pb.h"
 
 #include "modules/planning/reference_line/reference_line.h"

modules/planning/optimizer/qp_spline_st_speed/BUILD

@@ -33,7 +33,7 @@ cc_library(
         "//modules/common/configs/proto:vehicle_config_proto",
         "//modules/common/math",
         "//modules/common/proto:error_code_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/util",
         "//modules/planning/common:planning_util",
         "//modules/planning/math/smoothing_spline:spline_1d_generator",
@@ -55,7 +55,7 @@ cc_library(
         "//modules/common:log",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/configs/proto:vehicle_config_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/localization/proto:pose_proto",
         "//modules/map/hdmap",
         "//modules/planning/optimizer:speed_optimizer",

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_boundary_mapper.cc

@@ -24,7 +24,7 @@
 #include <limits>
 #include <string>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/decision.pb.h"
 
 #include "modules/common/log.h"

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_graph.h

@@ -25,7 +25,7 @@
 #include <vector>
 
 #include "modules/common/configs/proto/vehicle_config.pb.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/status/status.h"
 #include "modules/planning/proto/qp_spline_st_speed_config.pb.h"
 

modules/planning/optimizer/st_graph/BUILD

@@ -59,7 +59,7 @@ cc_library(
         ":st_graph_boundary",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/configs/proto:vehicle_config_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/status",
         "//modules/map/hdmap",
         "//modules/map/proto:map_proto",

modules/planning/optimizer/st_graph/st_boundary_mapper.h

@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/status/status.h"
 #include "modules/localization/proto/pose.pb.h"
 #include "modules/planning/proto/st_boundary_config.pb.h"

modules/planning/optimizer/st_graph/st_graph_data.h

@@ -24,7 +24,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/planning/common/speed_limit.h"
 #include "modules/planning/optimizer/st_graph/st_graph_boundary.h"

modules/planning/planner/BUILD

@@ -8,7 +8,7 @@ cc_library(
         "planner.h",
     ],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/status",
         "//modules/common/vehicle_state",
         "//modules/planning/proto:planning_proto",

modules/planning/planner/em/BUILD

@@ -13,7 +13,7 @@ cc_library(
     deps = [
         "//external:gflags",
         "//modules/common:log",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/status",
         "//modules/common/time",
         "//modules/common/util",

modules/planning/planner/em/em_planner.h

@@ -21,7 +21,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/planning/proto/planning.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
 

modules/planning/planner/planner.h

@@ -19,7 +19,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/status/status.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
 #include "modules/planning/proto/planning.pb.h"

modules/planning/planner/rtk/BUILD

@@ -13,7 +13,7 @@ cc_library(
     deps = [
         "//external:gflags",
         "//modules/common:log",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/util",
         "//modules/common/util:factory",
         "//modules/common/vehicle_state",

modules/planning/planning.h

@@ -23,7 +23,7 @@
 #include <vector>
 
 #include "modules/common/apollo_app.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/status/status.h"
 #include "modules/common/util/factory.h"
 #include "modules/common/vehicle_state/vehicle_state.h"

modules/planning/proto/BUILD

@@ -18,7 +18,7 @@ cc_proto_library(
     deps = [
         "//modules/canbus/proto:canbus_proto",
         "//modules/common/proto:common_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/decision/proto:decision_proto",
         "//modules/localization/proto:localization_proto",
         "//modules/map/proto:map_proto",

modules/planning/proto/planning.proto

@@ -4,7 +4,7 @@ package apollo.planning;
 
 import "modules/common/proto/header.proto";
 import "modules/common/proto/vehicle_signal.proto";
-import "modules/common/proto/path_point.proto";
+import "modules/common/proto/pnc_point.proto";
 import "modules/canbus/proto/chassis.proto";
 import "modules/planning/proto/decision.proto";
 import "modules/planning/proto/planning_internal.proto";

modules/planning/proto/planning_internal.proto

@@ -5,7 +5,7 @@ package apollo.planning_internal;
 import "modules/canbus/proto/chassis.proto";
 import "modules/common/proto/header.proto";
 import "modules/common/proto/error_code.proto";
-import "modules/common/proto/path_point.proto";
+import "modules/common/proto/pnc_point.proto";
 import "modules/localization/proto/localization.proto";
 import "modules/localization/proto/pose.proto";
 import "modules/map/proto/routing.proto";

modules/planning/reference_line/BUILD

@@ -15,7 +15,7 @@ cc_library(
     deps = [
         "//modules/common:log",
         "//modules/common/math",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/util:string_util",
         "//modules/map/pnc_map:path",
         "//modules/planning/common:planning_gflags",

modules/planning/reference_line/reference_line.h

@@ -25,7 +25,7 @@
 #include <utility>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/math/vec2d.h"
 #include "modules/map/pnc_map/path.h"

modules/planning/reference_line/reference_line_smoother.cc

@@ -26,7 +26,7 @@
 
 #include "modules/common/log.h"
 #include "modules/common/math/vec2d.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/util/file.h"
 #include "modules/planning/math/curve_math.h"
 #include "modules/planning/math/double.h"

modules/planning/reference_line/reference_point.h

@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/map/pnc_map/path.h"
 
 namespace apollo {

modules/planning/trajectory_stitcher/BUILD

@@ -12,7 +12,7 @@ cc_library(
     ],
     deps = [
         "//modules/common:log",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/vehicle_state",
         "//modules/planning/common:frame",
         "//modules/planning/common:planning_gflags",
@@ -29,7 +29,7 @@ cc_library(
     ],
     deps = [
         "//modules/common:log",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/common/vehicle_state",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common/trajectory",

modules/planning/trajectory_stitcher/trajectory_stitcher.h

@@ -23,7 +23,7 @@
 
 #include <vector>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/vehicle_state/vehicle_state.h"
 #include "modules/planning/common/frame.h"

modules/prediction/common/BUILD

@@ -17,7 +17,7 @@ cc_library(
     srcs = ["prediction_util.cc"],
     hdrs = ["prediction_util.h"],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
     ],
 )
 

modules/prediction/common/prediction_util.h

@@ -20,7 +20,7 @@
 #include <vector>
 #include <utility>
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/predictor/BUILD

@@ -39,7 +39,7 @@ cc_library(
     srcs = ["predictor.cc"],
     hdrs = ["predictor.h"],
     deps = [
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/prediction/container/obstacles:obstacle",
         "//modules/prediction/proto:prediction_proto",
     ],

modules/prediction/predictor/pedestrian/BUILD

@@ -8,7 +8,7 @@ cc_library(
     hdrs = ["regional_predictor.h"],
     deps = [
         "//modules/common/math:kalman_filter",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/common:prediction_util",
         "//modules/prediction/predictor",

modules/prediction/predictor/pedestrian/regional_predictor.h

@@ -27,7 +27,7 @@
 #include "Eigen/Dense"
 
 #include "modules/prediction/predictor/predictor.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/predictor/predictor.h

@@ -26,7 +26,7 @@
 
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 #include "modules/prediction/container/obstacles/obstacle.h"
 
 /**

modules/prediction/predictor/vehicle/BUILD

@@ -9,7 +9,7 @@ cc_library(
     deps = [
         "//modules/common:log",
         "//modules/common/math:math_utils",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/common:prediction_map",
         "//modules/prediction/predictor",
@@ -25,7 +25,7 @@ cc_library(
     deps = [
         "//modules/common:log",
         "//modules/common/math:math_utils",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/common:prediction_util",
         "//modules/prediction/predictor",

modules/prediction/predictor/vehicle/free_move_predictor.h

@@ -25,7 +25,7 @@
 #include <vector>
 
 #include "modules/prediction/predictor/predictor.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/predictor/vehicle/lane_sequence_predictor.h

@@ -27,7 +27,7 @@
 
 #include "modules/prediction/predictor/predictor.h"
 #include "modules/prediction/proto/lane_graph.pb.h"
-#include "modules/common/proto/path_point.pb.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace prediction {

modules/prediction/proto/BUILD

@@ -21,7 +21,7 @@ cc_proto_library(
     ],
     deps = [
         "//modules/common/proto:common_proto",
-        "//modules/common/proto:path_point_proto",
+        "//modules/common/proto:pnc_point_proto",
         "//modules/perception/proto:perception_proto",
     ],
 )

modules/prediction/proto/prediction_obstacle.proto

@@ -4,7 +4,7 @@ package apollo.prediction;
 
 import "modules/common/proto/error_code.proto";
 import "modules/common/proto/header.proto";
-import "modules/common/proto/path_point.proto";
+import "modules/common/proto/pnc_point.proto";
 import "modules/perception/proto/perception_obstacle.proto";
 
 message Trajectory {