Planning: openspace: code deprecations

modules/planning/open_space/constraints_formulation/BUILD

-load("//tools:cpplint.bzl", "cpplint")
-
-package(default_visibility = ["//visibility:public"])
-
-cc_library(
-    name = "open_space_ROI",
-    srcs = [
-        "open_space_ROI.cc",
-    ],
-    hdrs = [
-        "open_space_ROI.h",
-    ],
-    copts = ["-DMODULE_NAME=\\\"planning\\\""],
-    deps = [
-        "//cyber/common:log",
-        "//modules/common/configs:vehicle_config_helper",
-        "//modules/common/vehicle_state/proto:vehicle_state_proto",
-        "//modules/map/hdmap:hdmap_util",
-        "//modules/map/pnc_map",
-        "//modules/planning/common:frame",
-        "//modules/planning/common:indexed_queue",
-        "//modules/planning/common:obstacle",
-        "//modules/planning/common:planning_gflags",
-        "@eigen",
-    ],
-)
-
-cpplint()

modules/planning/open_space/constraints_formulation/open_space_ROI.h

-/******************************************************************************
- * Copyright 2018 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-
-/**
- * @file
- **/
-
-#pragma once
-
-#include <algorithm>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "Eigen/Dense"
-#include "cyber/common/log.h"
-#include "modules/common/configs/proto/vehicle_config.pb.h"
-#include "modules/common/configs/vehicle_config_helper.h"
-#include "modules/common/math/vec2d.h"
-#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
-#include "modules/map/hdmap/hdmap_util.h"
-#include "modules/map/pnc_map/path.h"
-#include "modules/map/pnc_map/pnc_map.h"
-#include "modules/map/proto/map_id.pb.h"
-#include "modules/planning/common/frame.h"
-#include "modules/planning/common/indexed_queue.h"
-#include "modules/planning/common/obstacle.h"
-#include "modules/planning/common/planning_gflags.h"
-
-namespace apollo {
-namespace planning {
-
-class OpenSpaceROI {
- public:
-  explicit OpenSpaceROI(
-      const PlannerOpenSpaceConfig &planner_open_space_config);
-
-  bool GenerateRegionOfInterest(Frame *frame);
-
-  const size_t obstacles_num() { return obstacles_num_; }
-
-  const Eigen::MatrixXi &obstacles_edges_num() { return obstacles_edges_num_; }
-
-  const std::vector<std::vector<common::math::Vec2d>>
-      &obstacles_vertices_vec() {
-    return obstacles_vertices_vec_;
-  }
-
-  const Eigen::MatrixXd &obstacles_A() { return obstacles_A_; }
-
-  const Eigen::MatrixXd &obstacles_b() { return obstacles_b_; }
-
-  const double origin_heading() { return origin_heading_; }
-
-  const common::math::Vec2d &origin_point() { return origin_point_; }
-
-  const std::vector<double> &ROI_xy_boundary() { return ROI_xy_boundary_; }
-
-  const std::vector<double> &open_space_end_pose() {
-    return open_space_end_pose_;
-  }
-
- private:
-  // @brief main process to compute and load info needed by open space planner
-  bool GetOpenSpaceInfo();
-
-  // @brief generate the path by vehicle location and return the target parking
-  // spot on that path
-  bool GetMapInfo(hdmap::ParkingSpaceInfoConstPtr *target_parking_spot,
-                  std::shared_ptr<hdmap::Path> *nearby_path);
-
-  // @brief search target parking spot on the path by vehicle location, if
-  // no return a nullptr in target_parking_spot
-  void SearchTargetParkingSpotOnPath(
-      std::shared_ptr<hdmap::Path> *nearby_path,
-      hdmap::ParkingSpaceInfoConstPtr *target_parking_spot);
-
-  // @brief if not close enough to parking spot, return false
-  bool CheckDistanceToParkingSpot(
-      std::shared_ptr<hdmap::Path> *nearby_path,
-      hdmap::ParkingSpaceInfoConstPtr *target_parking_spot);
-
-  // @brief "Region of Interest", load open space xy boundary and parking
-  // space boundary from pnc map (only for T shape parking space) to
-  // ROI_xy_boundary_ and ROI_parking_boundary_
-  bool GetOpenSpaceROI();
-
-  // @brief Represent the obstacles in vertices and load it into
-  // obstacles_vertices_vec_ in clock wise order. Take different approach
-  // towards warm start and distance approach
-  bool VPresentationObstacle();
-
-  // @brief Transform the vertice presentation of the obstacles into linear
-  // inequality as Ax>b
-  bool HPresentationObstacle();
-
-  // @brief Helper function for HPresentationObstacle()
-  bool ObsHRep(const size_t &obstacles_num,
-               const Eigen::MatrixXi &obstacles_edges_num,
-               const std::vector<std::vector<common::math::Vec2d>>
-                   &obstacles_vertices_vec,
-               Eigen::MatrixXd *A_all, Eigen::MatrixXd *b_all);
-
- private:
-  const hdmap::HDMap *hdmap_ = nullptr;
-
-  ThreadSafeIndexedObstacles *obstacles_by_frame_;
-
-  // @brief obstacles total num including perception obstacles and parking space
-  // boundary
-  size_t obstacles_num_ = 0;
-
-  common::VehicleState vehicle_state_;
-
-  // @brief the dimension needed for A and b matrix dimension in H
-  // representation
-  Eigen::MatrixXi obstacles_edges_num_;
-
-  // @brief in the order of [x_min, x_max, y_min, y_max];
-  std::vector<double> ROI_xy_boundary_;
-
-  // @brief vectors in the order of left parking bound, parking end bound, right
-  // parking bound, opposite lane. And the vertices order is counter-clockwise
-  // the viewing angle and the vertice sequence
-  //
-  //                     8------------------------7   <-  up_boundary
-  //
-  //  left_boundary  |-> 1-------2      5----------6   <-|  right_boundary
-  //                 |->         |      |            <-|
-  //                             |      |
-  //                             |      |
-  //                            |3------4|
-  //                                ^
-  //                          down_boundary
-  // ROI_parking_boundary_ in form of {{1,2,3},{3,4},{4,5,6},{7,8}}
-  std::vector<std::vector<common::math::Vec2d>> ROI_parking_boundary_;
-
-  // @brief open_space end configuration in order of x, y, heading and speed.
-  // Speed is set to be always zero now for parking
-  std::vector<double> open_space_end_pose_;
-
-  // @brief vector storing the vertices of obstacles in counter-clock-wise order
-  std::vector<std::vector<common::math::Vec2d>> obstacles_vertices_vec_;
-
-  // @brief Linear inequality representation of the obstacles Ax>b
-  Eigen::MatrixXd obstacles_A_;
-  Eigen::MatrixXd obstacles_b_;
-
-  // @brief origin heading for planning space rotation
-  double origin_heading_ = 0.0;
-
-  // @brief origin point for scaling down the numeric value of the optimization
-  // problem in order of x , y
-  common::math::Vec2d origin_point_;
-
-  // @brief parking_spot_heading_ is heading the direction pointing away from
-  // the lane
-  double parking_spot_heading_ = 0.0;
-
-  // @brief parking_spot_id from routing
-  std::string target_parking_spot_id_ = "";
-
-  PlannerOpenSpaceConfig planner_open_space_config_;
-
-  apollo::common::VehicleParam vehicle_params_;
-};
-
-}  // namespace planning
-}  // namespace apollo

modules/tools/open_space_visualization/distance_approach_python_interface.py

@@ -23,8 +23,7 @@ from ctypes import POINTER
 import math
 
 lib = cdll.LoadLibrary(
-    '/apollo/bazel-bin/modules/tools/open_space_visualization/distance_approach_problem_wrapper_lib.so')
-
+    '/apollo/bazel-bin/modules/planning/open_space/tools/distance_approach_problem_wrapper_lib.so')
 
 class DistancePlanner(object):
     def __init__(self):

modules/tools/open_space_visualization/hybrid_a_star_python_interface.py

@@ -23,7 +23,7 @@ from ctypes import POINTER
 import math
 
 lib = cdll.LoadLibrary(
-    '/apollo/bazel-bin/modules/tools/open_space_visualization/hybrid_a_star_wrapper_lib.so')
+    '/apollo/bazel-bin/modules/planning/open_space/tools/hybrid_a_star_wrapper_lib.so')
 
 
 class HybridAStarPlanner(object):

modules/tools/open_space_visualization/open_space_roi_interface.py

@@ -21,7 +21,7 @@ import math
 from ctypes import cdll, c_ushort, c_int, c_char_p, c_double, POINTER
 
 lib = cdll.LoadLibrary(
-    '/apollo/bazel-bin/modules/tools/open_space_visualization/open_space_roi_wrapper_lib.so')
+    '/apollo/bazel-bin/modules/planning/open_space/tools/open_space_roi_wrapper_lib.so')
 
 
 class open_space_roi(object):