Planning: renaming for better semantic understanding

modules/planning/common/frame.h

@@ -121,12 +121,14 @@ class Frame {
       const double planning_start_time,
       prediction::PredictionObstacles *prediction_obstacles);
 
-  void set_last_planned_trajectory(ADCTrajectory last_planned_trajectory) {
-    last_planned_trajectory_ = std::move(last_planned_trajectory);
+  void set_current_frame_planned_trajectory(
+      ADCTrajectory current_frame_planned_trajectory) {
+    current_frame_planned_trajectory_ =
+        std::move(current_frame_planned_trajectory);
   }
 
-  ADCTrajectory last_planned_trajectory() const {
-    return last_planned_trajectory_;
+  const ADCTrajectory &current_frame_planned_trajectory() const {
+    return current_frame_planned_trajectory_;
   }
 
   // TODO(Qi, Jinyun): check the usage in open space planner
@@ -205,7 +207,7 @@ class Frame {
 
   ThreadSafeIndexedObstacles obstacles_;
   ChangeLaneDecider change_lane_decider_;
-  ADCTrajectory last_planned_trajectory_;  // last published trajectory
+  ADCTrajectory current_frame_planned_trajectory_;  // last published trajectory
 
   // debug info for open space planner
   planning_internal::OpenSpaceDebug open_space_debug_;

modules/planning/navi_planning.cc

@@ -232,7 +232,7 @@ void NaviPlanning::RunOnce(const LocalView& local_view,
       FillPlanningPb(start_timestamp, trajectory_pb);
     }
 
-    frame_->set_last_planned_trajectory(*trajectory_pb);
+    frame_->set_current_frame_planned_trajectory(*trajectory_pb);
     auto seq_num = frame_->SequenceNum();
     FrameHistory::Instance()->Add(seq_num, std::move(frame_));
 

modules/planning/on_lane_planning.cc

@@ -274,7 +274,7 @@ void OnLanePlanning::RunOnce(const LocalView& local_view,
     }
 
     FillPlanningPb(start_timestamp, trajectory_pb);
-    frame_->set_last_planned_trajectory(*trajectory_pb);
+    frame_->set_current_frame_planned_trajectory(*trajectory_pb);
     const uint32_t n = frame_->SequenceNum();
     FrameHistory::Instance()->Add(n, std::move(frame_));
     return;
@@ -333,7 +333,7 @@ void OnLanePlanning::RunOnce(const LocalView& local_view,
   FillPlanningPb(start_timestamp, trajectory_pb);
   ADEBUG << "Planning pb:" << trajectory_pb->header().DebugString();
 
-  frame_->set_last_planned_trajectory(*trajectory_pb);
+  frame_->set_current_frame_planned_trajectory(*trajectory_pb);
   if (FLAGS_enable_planning_smoother) {
     planning_smoother_.Smooth(FrameHistory::Instance(), frame_.get(),
                               trajectory_pb);

modules/planning/open_space_planning.cc

@@ -193,7 +193,7 @@ void OpenSpacePlanning::RunOnce(const LocalView& local_view,
     }
 
     FillPlanningPb(start_timestamp, ptr_trajectory_pb);
-    frame_->set_last_planned_trajectory(*ptr_trajectory_pb);
+    frame_->set_current_frame_planned_trajectory(*ptr_trajectory_pb);
     const uint32_t n = frame_->SequenceNum();
     FrameHistory::Instance()->Add(n, std::move(frame_));
     return;
@@ -229,7 +229,7 @@ void OpenSpacePlanning::RunOnce(const LocalView& local_view,
   FillPlanningPb(start_timestamp, ptr_trajectory_pb);
   ADEBUG << "Planning pb:" << ptr_trajectory_pb->header().DebugString();
 
-  frame_->set_last_planned_trajectory(*ptr_trajectory_pb);
+  frame_->set_current_frame_planned_trajectory(*ptr_trajectory_pb);
 
   const uint32_t n = frame_->SequenceNum();
   FrameHistory::Instance()->Add(n, std::move(frame_));
@@ -247,7 +247,8 @@ Status OpenSpacePlanning::Plan(
   Status trajectory_partition_status;
 
   if (status == Status::OK()) {
-    auto trajectory_after_stitching_point = frame_->last_planned_trajectory();
+    auto trajectory_after_stitching_point =
+        frame_->current_frame_planned_trajectory();
     last_stitching_trajectory_ = frame_->last_stitching_trajectory();
     trajectory_after_stitching_point.mutable_header()->set_timestamp_sec(
         current_time_stamp);
@@ -275,7 +276,8 @@ Status OpenSpacePlanning::Plan(
 
     last_publishable_trajectory_.reset(
         new PublishableTrajectory(trajectory_after_stitching_point));
-    frame_->set_last_planned_trajectory(trajectory_after_stitching_point);
+    frame_->set_current_frame_planned_trajectory(
+        trajectory_after_stitching_point);
 
     ADEBUG << "current_time_stamp: " << std::to_string(current_time_stamp);
 

modules/planning/planner/open_space/open_space_planner.cc

@@ -189,7 +189,7 @@ void OpenSpacePlanner::LoadTrajectoryToFrame(Frame* frame) {
   trajectory_to_end_pb_.Clear();
   trajectory_to_end_pb_.mutable_trajectory_point()->CopyFrom(
       *(trajectory_to_end_.mutable_trajectory_point()));
-  frame->set_last_planned_trajectory(trajectory_to_end_pb_);
+  frame->set_current_frame_planned_trajectory(trajectory_to_end_pb_);
   frame->mutable_open_space_debug()->CopyFrom(open_space_debug_);
   *(frame->mutable_last_stitching_trajectory()) = stitching_trajectory_;
 }

modules/planning/tasks/smoothers/smoother.cc

@@ -95,7 +95,8 @@ apollo::common::Status Smoother::Smooth(
     AWARN << msg;
     return Status(ErrorCode::PLANNING_ERROR, msg);
   }
-  const auto& previous_planning = previous_frame->last_planned_trajectory();
+  const auto& previous_planning =
+      previous_frame->current_frame_planned_trajectory();
   auto header = current_trajectory_pb->header();
   *current_trajectory_pb = previous_planning;
   current_trajectory_pb->mutable_header()->CopyFrom(header);