From 4d2ea50e8dad95506215edfbda45de81218ee400 Mon Sep 17 00:00:00 2001 From: Aaron Xiao Date: Sun, 15 Dec 2019 07:49:21 -0800 Subject: [PATCH] Prediction: Remove unused aliases. --- modules/prediction/common/message_process.cc | 4 ++-- .../adc_trajectory/adc_trajectory_container.cc | 11 +++++------ .../prediction/container/obstacles/obstacle.cc | 15 ++++++--------- .../container/obstacles/obstacles_container.cc | 1 - modules/prediction/evaluator/evaluator_manager.cc | 1 - .../pedestrian_interaction_evaluator.cc | 5 ----- .../evaluator/vehicle/cruise_mlp_evaluator.cc | 3 --- .../evaluator/vehicle/junction_mlp_evaluator.cc | 1 - .../vehicle/lane_aggregating_evaluator.cc | 7 ------- .../evaluator/vehicle/lane_scanning_evaluator.cc | 2 -- modules/prediction/prediction_component.cc | 2 -- .../extrapolation/extrapolation_predictor.cc | 1 - .../predictor/free_move/free_move_predictor.cc | 4 ++-- .../interaction/interaction_predictor.cc | 2 -- .../move_sequence/move_sequence_predictor.cc | 11 +++++------ modules/prediction/predictor/predictor_manager.cc | 9 +++------ .../predictor/sequence/sequence_predictor.cc | 1 - .../prioritization/obstacles_prioritizer.cc | 12 ++++++------ .../scenario/right_of_way/right_of_way.cc | 6 ++---- modules/prediction/scenario/scenario_manager.cc | 5 ----- 20 files changed, 31 insertions(+), 72 deletions(-) diff --git a/modules/prediction/common/message_process.cc b/modules/prediction/common/message_process.cc index 5c9e6a2029..3c78c69312 100644 --- a/modules/prediction/common/message_process.cc +++ b/modules/prediction/common/message_process.cc @@ -39,13 +39,13 @@ namespace apollo { namespace prediction { using apollo::common::adapter::AdapterConfig; +using apollo::cyber::record::RecordMessage; +using apollo::cyber::record::RecordReader; using apollo::localization::LocalizationEstimate; using apollo::perception::PerceptionObstacle; using apollo::perception::PerceptionObstacles; using apollo::planning::ADCTrajectory; using apollo::storytelling::Stories; -using cyber::record::RecordMessage; -using cyber::record::RecordReader; bool MessageProcess::Init() { InitContainers(); diff --git a/modules/prediction/container/adc_trajectory/adc_trajectory_container.cc b/modules/prediction/container/adc_trajectory/adc_trajectory_container.cc index f603e53dea..426684bd84 100644 --- a/modules/prediction/container/adc_trajectory/adc_trajectory_container.cc +++ b/modules/prediction/container/adc_trajectory/adc_trajectory_container.cc @@ -23,12 +23,11 @@ namespace apollo { namespace prediction { -using ::apollo::common::PathPoint; -using ::apollo::common::math::Polygon2d; -using ::apollo::common::math::Vec2d; -using ::apollo::hdmap::JunctionInfo; -using ::apollo::hdmap::PNCJunctionInfo; -using ::apollo::planning::ADCTrajectory; +using apollo::common::PathPoint; +using apollo::common::math::Polygon2d; +using apollo::common::math::Vec2d; +using apollo::hdmap::JunctionInfo; +using apollo::planning::ADCTrajectory; ADCTrajectoryContainer::ADCTrajectoryContainer() : adc_junction_info_ptr_(nullptr), s_dist_to_junction_(0.0) {} diff --git a/modules/prediction/container/obstacles/obstacle.cc b/modules/prediction/container/obstacles/obstacle.cc index 67ad2edbd7..f4108597f6 100644 --- a/modules/prediction/container/obstacles/obstacle.cc +++ b/modules/prediction/container/obstacles/obstacle.cc @@ -26,17 +26,14 @@ namespace apollo { namespace prediction { - -using common::ErrorCode; -using common::PathPoint; -using common::Point3D; -using common::math::KalmanFilter; -using hdmap::JunctionInfo; -using hdmap::LaneInfo; -using perception::PerceptionObstacle; - namespace { +using apollo::common::PathPoint; +using apollo::common::Point3D; +using apollo::hdmap::JunctionInfo; +using apollo::hdmap::LaneInfo; +using apollo::perception::PerceptionObstacle; + double Damp(const double x, const double sigma) { return 1.0 / (1.0 + std::exp(1.0 / (std::fabs(x) + sigma))); } diff --git a/modules/prediction/container/obstacles/obstacles_container.cc b/modules/prediction/container/obstacles/obstacles_container.cc index e353485ca5..3cb7b5eb82 100644 --- a/modules/prediction/container/obstacles/obstacles_container.cc +++ b/modules/prediction/container/obstacles/obstacles_container.cc @@ -31,7 +31,6 @@ namespace prediction { using apollo::perception::PerceptionObstacle; using apollo::perception::PerceptionObstacles; -using apollo::prediction::PredictionConstants; ObstaclesContainer::ObstaclesContainer() : ptr_obstacles_(FLAGS_max_num_obstacles) {} diff --git a/modules/prediction/evaluator/evaluator_manager.cc b/modules/prediction/evaluator/evaluator_manager.cc index a12ec4915c..f7585d7e13 100644 --- a/modules/prediction/evaluator/evaluator_manager.cc +++ b/modules/prediction/evaluator/evaluator_manager.cc @@ -41,7 +41,6 @@ namespace apollo { namespace prediction { -using apollo::common::adapter::AdapterConfig; using apollo::perception::PerceptionObstacle; using IdObstacleListMap = std::unordered_map>; diff --git a/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc b/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc index 54abf4b9b0..d4982425e8 100644 --- a/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc +++ b/modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.cc @@ -30,12 +30,7 @@ namespace apollo { namespace prediction { -using apollo::common::Point3D; using apollo::common::TrajectoryPoint; -using apollo::common::adapter::AdapterConfig; -using apollo::common::math::Vec2d; -using apollo::perception::PerceptionObstacle; -using apollo::perception::PerceptionObstacles; PedestrianInteractionEvaluator::PedestrianInteractionEvaluator() : device_(torch::kCPU) { diff --git a/modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.cc b/modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.cc index 0449221c09..a6600d1fee 100644 --- a/modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.cc +++ b/modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.cc @@ -32,9 +32,6 @@ namespace apollo { namespace prediction { -using apollo::common::adapter::AdapterConfig; -using apollo::cyber::common::GetProtoFromFile; - // Helper function for computing the mean value of a vector. double ComputeMean(const std::vector& nums, size_t start, size_t end) { int count = 0; diff --git a/modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc b/modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc index 5ad5203774..617610ff28 100644 --- a/modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc +++ b/modules/prediction/evaluator/vehicle/junction_mlp_evaluator.cc @@ -37,7 +37,6 @@ namespace apollo { namespace prediction { -using apollo::common::adapter::AdapterConfig; using apollo::prediction::math_util::ComputePolynomial; using apollo::prediction::math_util::EvaluateCubicPolynomial; diff --git a/modules/prediction/evaluator/vehicle/lane_aggregating_evaluator.cc b/modules/prediction/evaluator/vehicle/lane_aggregating_evaluator.cc index 17fbba3102..bb4c6560a8 100644 --- a/modules/prediction/evaluator/vehicle/lane_aggregating_evaluator.cc +++ b/modules/prediction/evaluator/vehicle/lane_aggregating_evaluator.cc @@ -29,13 +29,6 @@ namespace apollo { namespace prediction { -using apollo::common::Point3D; -using apollo::common::TrajectoryPoint; -using apollo::common::adapter::AdapterConfig; -using apollo::common::math::Vec2d; -using apollo::perception::PerceptionObstacle; -using apollo::perception::PerceptionObstacles; - LaneAggregatingEvaluator::LaneAggregatingEvaluator() : device_(torch::kCPU) { evaluator_type_ = ObstacleConf::LANE_AGGREGATING_EVALUATOR; LoadModel(); diff --git a/modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc b/modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc index cf1f7d5a48..0639100f54 100644 --- a/modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc +++ b/modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc @@ -34,9 +34,7 @@ namespace apollo { namespace prediction { using apollo::common::TrajectoryPoint; -using apollo::common::adapter::AdapterConfig; using apollo::common::math::Vec2d; -using apollo::cyber::common::GetProtoFromFile; LaneScanningEvaluator::LaneScanningEvaluator() : device_(torch::kCPU) { evaluator_type_ = ObstacleConf::LANE_SCANNING_EVALUATOR; diff --git a/modules/prediction/prediction_component.cc b/modules/prediction/prediction_component.cc index f76326eb39..61bad73480 100644 --- a/modules/prediction/prediction_component.cc +++ b/modules/prediction/prediction_component.cc @@ -37,8 +37,6 @@ namespace prediction { using apollo::common::adapter::AdapterConfig; using apollo::common::time::Clock; -using apollo::localization::LocalizationEstimate; -using apollo::perception::PerceptionObstacle; using apollo::perception::PerceptionObstacles; using apollo::planning::ADCTrajectory; diff --git a/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc b/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc index 4c1fb4467f..3fc9a385c5 100644 --- a/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc +++ b/modules/prediction/predictor/extrapolation/extrapolation_predictor.cc @@ -27,7 +27,6 @@ namespace prediction { using apollo::common::PathPoint; using apollo::common::TrajectoryPoint; -using apollo::hdmap::LaneInfo; ExtrapolationPredictor::ExtrapolationPredictor() { predictor_type_ = ObstacleConf::EXTRAPOLATION_PREDICTOR; diff --git a/modules/prediction/predictor/free_move/free_move_predictor.cc b/modules/prediction/predictor/free_move/free_move_predictor.cc index 30f9114981..9d1acbf500 100644 --- a/modules/prediction/predictor/free_move/free_move_predictor.cc +++ b/modules/prediction/predictor/free_move/free_move_predictor.cc @@ -23,8 +23,8 @@ namespace apollo { namespace prediction { -using ::apollo::common::TrajectoryPoint; -using ::apollo::perception::PerceptionObstacle; +using apollo::common::TrajectoryPoint; +using apollo::perception::PerceptionObstacle; FreeMovePredictor::FreeMovePredictor() { predictor_type_ = ObstacleConf::FREE_MOVE_PREDICTOR; diff --git a/modules/prediction/predictor/interaction/interaction_predictor.cc b/modules/prediction/predictor/interaction/interaction_predictor.cc index 9b185e6e5f..520b5b9fb0 100644 --- a/modules/prediction/predictor/interaction/interaction_predictor.cc +++ b/modules/prediction/predictor/interaction/interaction_predictor.cc @@ -34,9 +34,7 @@ namespace apollo { namespace prediction { using apollo::common::PathPoint; -using apollo::common::Point3D; using apollo::common::TrajectoryPoint; -using apollo::common::adapter::AdapterConfig; using apollo::hdmap::LaneInfo; using apollo::prediction::math_util::GetSByConstantAcceleration; diff --git a/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc b/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc index 56aec13f95..01b202288c 100644 --- a/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc +++ b/modules/prediction/predictor/move_sequence/move_sequence_predictor.cc @@ -25,12 +25,11 @@ namespace apollo { namespace prediction { -using ::apollo::common::PathPoint; -using ::apollo::common::TrajectoryPoint; -using ::apollo::hdmap::LaneInfo; -using ::apollo::prediction::math_util::EvaluateCubicPolynomial; -using ::apollo::prediction::math_util::EvaluateQuarticPolynomial; -using ::apollo::prediction::math_util::SolveQuadraticEquation; +using apollo::common::PathPoint; +using apollo::common::TrajectoryPoint; +using apollo::hdmap::LaneInfo; +using apollo::prediction::math_util::EvaluateCubicPolynomial; +using apollo::prediction::math_util::EvaluateQuarticPolynomial; MoveSequencePredictor::MoveSequencePredictor() { predictor_type_ = ObstacleConf::MOVE_SEQUENCE_PREDICTOR; diff --git a/modules/prediction/predictor/predictor_manager.cc b/modules/prediction/predictor/predictor_manager.cc index b66cc1f8fd..5ea945eb02 100644 --- a/modules/prediction/predictor/predictor_manager.cc +++ b/modules/prediction/predictor/predictor_manager.cc @@ -37,15 +37,11 @@ namespace apollo { namespace prediction { +namespace { -using apollo::common::adapter::AdapterConfig; using apollo::perception::PerceptionObstacle; using apollo::perception::PerceptionObstacles; using IdObstacleListMap = std::unordered_map>; -using IdPredictionObstacleMap = - std::unordered_map>; - -namespace { void GroupObstaclesByObstacleId(const int obstacle_id, ObstaclesContainer* const obstacles_container, @@ -185,7 +181,8 @@ void PredictorManager::PredictObstaclesInParallel( const PerceptionObstacles& perception_obstacles, const ADCTrajectoryContainer* adc_trajectory_container, ObstaclesContainer* obstacles_container) { - IdPredictionObstacleMap id_prediction_obstacle_map; + std::unordered_map> + id_prediction_obstacle_map; for (const PerceptionObstacle& perception_obstacle : perception_obstacles.perception_obstacle()) { int id = perception_obstacle.id(); diff --git a/modules/prediction/predictor/sequence/sequence_predictor.cc b/modules/prediction/predictor/sequence/sequence_predictor.cc index fa21e83cbe..3c56d9433a 100644 --- a/modules/prediction/predictor/sequence/sequence_predictor.cc +++ b/modules/prediction/predictor/sequence/sequence_predictor.cc @@ -30,7 +30,6 @@ namespace prediction { using apollo::common::PathPoint; using apollo::common::Point3D; using apollo::common::TrajectoryPoint; -using apollo::common::adapter::AdapterConfig; using apollo::hdmap::LaneInfo; bool SequencePredictor::Predict( diff --git a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc index 3a2e3c8f2b..e03a846cd7 100644 --- a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc +++ b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc @@ -32,13 +32,13 @@ namespace apollo { namespace prediction { +using apollo::common::Point3D; +using apollo::common::adapter::AdapterConfig; +using apollo::common::math::Box2d; +using apollo::common::math::Vec2d; +using apollo::hdmap::LaneInfo; +using apollo::hdmap::OverlapInfo; using apollo::perception::PerceptionObstacle; -using common::Point3D; -using common::adapter::AdapterConfig; -using common::math::Box2d; -using common::math::Vec2d; -using hdmap::LaneInfo; -using hdmap::OverlapInfo; using ConstLaneInfoPtr = std::shared_ptr; static constexpr double kCautionDistanceThreshold = 60.0; diff --git a/modules/prediction/scenario/right_of_way/right_of_way.cc b/modules/prediction/scenario/right_of_way/right_of_way.cc index 2c684f9d07..05c1c415d9 100644 --- a/modules/prediction/scenario/right_of_way/right_of_way.cc +++ b/modules/prediction/scenario/right_of_way/right_of_way.cc @@ -32,11 +32,9 @@ namespace apollo { namespace prediction { +using apollo::common::adapter::AdapterConfig; +using apollo::hdmap::LaneInfo; using apollo::perception::PerceptionObstacle; -using common::adapter::AdapterConfig; -using hdmap::LaneInfo; -using hdmap::OverlapInfo; -using ConstLaneInfoPtr = std::shared_ptr; void RightOfWay::Analyze() { ObstaclesContainer* obstacles_container = diff --git a/modules/prediction/scenario/scenario_manager.cc b/modules/prediction/scenario/scenario_manager.cc index cb252a93e8..f1f9001ab3 100644 --- a/modules/prediction/scenario/scenario_manager.cc +++ b/modules/prediction/scenario/scenario_manager.cc @@ -21,11 +21,6 @@ namespace apollo { namespace prediction { -using apollo::perception::PerceptionObstacle; -using common::adapter::AdapterConfig; -using common::math::Box2d; -using common::math::Vec2d; - ScenarioManager::ScenarioManager() {} void ScenarioManager::Run() { -- GitLab