From 40fd28d855d8e061b7cd80dc0b87e7414408e249 Mon Sep 17 00:00:00 2001
From: kechxu <kechxu89@gmail.com>
Date: Mon, 18 Nov 2019 15:39:21 -0800
Subject: [PATCH] Prediction: refactor constexpr to static constexpr

---
 .../pedestrian/pedestrian_interaction_evaluator.cc          | 6 +++---
 .../predictor/extrapolation/extrapolation_predictor.cc      | 6 +++---
 .../scenario/prioritization/obstacles_prioritizer.cc        | 2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc b/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc
index aa19b6819f..6f166d3d8c 100644
--- a/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc
+++ b/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc
@@ -113,9 +113,9 @@ bool PedestrianInteractionEvaluator::Evaluate(
     return true;
   }
 
-  constexpr double kShortTermPredictionTimeResolution = 0.4;
-  constexpr int kShortTermPredictionPointNum = 5;
-  constexpr int kHiddenStateUpdateCycle = 4;
+  static constexpr double kShortTermPredictionTimeResolution = 0.4;
+  static constexpr int kShortTermPredictionPointNum = 5;
+  static constexpr int kHiddenStateUpdateCycle = 4;
 
   // Step 1 Get social embedding
   torch::Tensor social_pooling = GetSocialPooling();
diff --git a/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc b/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc
index 484ec89500..e57529b9e4 100644
--- a/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc
+++ b/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc
@@ -57,7 +57,7 @@ void ExtrapolationPredictor::Predict(
 
 void ExtrapolationPredictor::PostProcess(Trajectory* trajectory_ptr) {
   // TODO(kechxu) handle corner cases
-  constexpr int kNumTailPoint = 5;
+  static constexpr int kNumTailPoint = 5;
   ExtrapolationPredictor::LaneSearchResult lane_search_result =
       SearchExtrapolationLane(*trajectory_ptr, kNumTailPoint);
   double extraplation_speed =
@@ -72,8 +72,8 @@ void ExtrapolationPredictor::PostProcess(Trajectory* trajectory_ptr) {
 ExtrapolationPredictor::LaneSearchResult
 ExtrapolationPredictor::SearchExtrapolationLane(const Trajectory& trajectory,
                                                 const int num_tail_point) {
-  constexpr double radius = 1.0;
-  constexpr double angle_diff_threshold = M_PI / 3.0;
+  static constexpr double radius = 1.0;
+  static constexpr double angle_diff_threshold = M_PI / 3.0;
   int num_trajectory_point = trajectory.trajectory_point_size();
 
   LaneSearchResult lane_search_result;
diff --git a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
index bacad787d2..1ac9d29933 100644
--- a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
+++ b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
@@ -42,7 +42,7 @@ using hdmap::LaneInfo;
 using hdmap::OverlapInfo;
 using ConstLaneInfoPtr = std::shared_ptr<const LaneInfo>;
 
-constexpr double kCautionDistanceThreshold = 60.0;
+static constexpr double kCautionDistanceThreshold = 60.0;
 
 namespace {
 
-- 
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