[planning] fixed clint complaint. (#872)

modules/planning/common/frame.cc

@@ -136,7 +136,7 @@ bool Frame::Init(const PlanningConfig& config) {
            << init_pose_.DebugString();
     return false;
   }
-  // TODO add fuctions to help select the best reference_line(s)
+  // TODO(all) add fuctions to help select the best reference_line(s)
   reference_line_ = reference_lines.front();
 
   if (FLAGS_enable_prediction) {

modules/planning/common/indexed_queue.h

@@ -24,6 +24,7 @@
 #include <memory>
 #include <queue>
 #include <unordered_map>
+#include <utility>
 
 namespace apollo {
 namespace planning {
@@ -31,7 +32,8 @@ namespace planning {
 template <typename I, typename T>
 class IndexedQueue {
  public:
-  IndexedQueue(std::size_t max_queue_size) : max_queue_size_(max_queue_size){};
+  explicit IndexedQueue(std::size_t max_queue_size) :
+      max_queue_size_(max_queue_size) {}
   const T *Find(const I id) const {
     auto iter = map_.find(id);
     if (iter == map_.end()) {

modules/planning/common/path_decision.h

@@ -36,7 +36,8 @@ namespace planning {
 
 class PathDecision {
  public:
-  PathDecision(const std::vector<const PathObstacle *> &path_obstacles);
+  explicit PathDecision(
+      const std::vector<const PathObstacle *> &path_obstacles);
 
   PathDecision(const std::vector<const Obstacle *> &obstacles,
                const ReferenceLine &reference_line);

modules/planning/common/path_obstacle.cc

@@ -18,10 +18,10 @@
  * @file
  **/
 
-#include "modules/planning/common/path_obstacle.h"
-
+#include <unordered_map>
 #include <limits>
 
+#include "modules/planning/common/path_obstacle.h"
 #include "modules/common/log.h"
 #include "modules/planning/common/planning_gflags.h"
 

modules/planning/common/path_obstacle.h

@@ -24,6 +24,7 @@
 #include <list>
 #include <string>
 #include <vector>
+#include <unordered_map>
 
 #include "gtest/gtest_prod.h"
 
@@ -62,7 +63,7 @@ class PathObstacle {
  public:
   PathObstacle();
 
-  PathObstacle(const planning::Obstacle* obstacle);
+  explicit PathObstacle(const planning::Obstacle* obstacle);
 
   bool Init(const ReferenceLine* reference_line);
 

modules/planning/common/planning_data.cc

@@ -37,9 +37,10 @@ PathData* PlanningData::mutable_path_data() { return &path_data_; }
 
 SpeedData* PlanningData::mutable_speed_data() { return &speed_data_; }
 
-bool PlanningData::CombinePathAndSpeedProfile(const double time_resolution,
-                             const double relative_time,
-                             DiscretizedTrajectory* ptr_discretized_trajectory) {
+bool PlanningData::CombinePathAndSpeedProfile(
+    const double time_resolution,
+    const double relative_time,
+    DiscretizedTrajectory* ptr_discretized_trajectory) {
   CHECK(time_resolution > 0.0);
   CHECK(ptr_discretized_trajectory != nullptr);
 

modules/planning/common/speed_limit.h

@@ -21,6 +21,7 @@
 #ifndef MODULES_PLANNING_COMMON_SPEED_LIMIT_H_
 #define MODULES_PLANNING_COMMON_SPEED_LIMIT_H_
 
+#include <utility>
 #include <vector>
 
 namespace apollo {

modules/planning/common/trajectory/discretized_trajectory.h

@@ -62,7 +62,8 @@ class DiscretizedTrajectory : public Trajectory {
   template <typename Iter>
   void PrependTrajectoryPoints(Iter begin, Iter end) {
     if (!trajectory_points_.empty() && begin != end) {
-      CHECK((end - 1)->relative_time() < trajectory_points_.front().relative_time());
+      CHECK((end - 1)->relative_time()
+                < trajectory_points_.front().relative_time());
     }
     trajectory_points_.insert(trajectory_points_.begin(), begin, end);
   }

modules/planning/common/trajectory/publishable_trajectory.cc

@@ -18,6 +18,8 @@
  * @file publishable_trajectory.cpp
  **/
 
+#include <utility>
+
 #include "modules/planning/common/trajectory/publishable_trajectory.h"
 
 namespace apollo {

modules/planning/common/trajectory/publishable_trajectory.h

@@ -21,6 +21,7 @@
 #ifndef MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H_
 #define MODULES_PLANNING_COMMON_TRAJECTORY_PUBLISHABLE_TRAJECTORY_H_
 
+#include <vector>
 #include "modules/planning/common/trajectory/discretized_trajectory.h"
 #include "modules/planning/proto/planning.pb.h"
 

modules/planning/math/hermite_spline.h

@@ -21,6 +21,7 @@
 #ifndef MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
 #define MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
 
+#include <utility>
 #include <array>
 
 #include "modules/common/log.h"
@@ -28,8 +29,8 @@
 namespace apollo {
 namespace planning {
 
-//Hermite spline implementation that works for 1d and 2d space interpolation.
-//Valid input type T: double, Eigen::Vector2d
+// Hermite spline implementation that works for 1d and 2d space interpolation.
+// Valid input type T: double, Eigen::Vector2d
 template <typename T, std::uint32_t N>
 class HermiteSpline {
  public:

modules/planning/math/spiral_curve/spiral_curve.h

@@ -24,6 +24,7 @@
 
 #include <cmath>
 #include <vector>
+#include <algorithm>
 
 #include "modules/common/proto/pnc_point.pb.h"
 #include "modules/common/status/status.h"

modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc

@@ -21,6 +21,8 @@
 #include "modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.h"
 
 #include <string>
+#include <utility>
+#include <vector>
 
 #include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"

modules/planning/optimizer/dp_poly_path/dp_road_graph.h

@@ -22,6 +22,9 @@
 #define MODULES_PLANNING_OPTIMIZER_DP_POLY_PATH_DP_ROAD_GRAPH_H_
 
 #include <vector>
+#include <utility>
+#include <limits>
+#include <string>
 
 #include "modules/common/proto/pnc_point.pb.h"
 

modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc

@@ -25,7 +25,6 @@
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/common/configs/vehicle_config_helper.h"
-#include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/log.h"
 #include "modules/common/util/file.h"
 #include "modules/planning/common/path_decision.h"

modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc

@@ -113,7 +113,8 @@ bool QpSplinePathGenerator::Generate(
     double dl = spline.Derivative(s);
     double ddl = spline.SecondOrderDerivative(s);
     ReferencePoint ref_point = reference_line_.get_reference_point(s);
-    Eigen::Vector2d xy_point = CartesianFrenetConverter::CalculateCartesianPoint(
+    Eigen::Vector2d xy_point =
+        CartesianFrenetConverter::CalculateCartesianPoint(
         ref_point.heading(), {ref_point.x(), ref_point.y()},
         l);
     xy_point[0] = xy_point.x() - x_diff;

modules/planning/optimizer/speed_optimizer.cc

@@ -22,8 +22,6 @@
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/speed_limit.h"
 
-#include <string>
-
 namespace apollo {
 namespace planning {
 
@@ -80,6 +78,5 @@ void SpeedOptimizer::RecordSTGraphDebug(
       {speed_data.speed_vector().begin(), speed_data.speed_vector().end()});
 }
 
-
 }  // namespace planning
 }  // namespace apollo

modules/planning/optimizer/speed_optimizer.h

@@ -22,6 +22,7 @@
 #define MODULES_PLANNING_OPTIMIZER_SPEED_OPTIMIZER_H_
 
 #include <string>
+#include <vector>
 
 #include "modules/planning/optimizer/optimizer.h"
 
@@ -50,7 +51,6 @@ class SpeedOptimizer : public Optimizer {
     const SpeedLimit& speed_limits, const SpeedData& speed_data);
 
   void RecordDebugInfo(const SpeedData& speed_data);
-
 };
 
 }  // namespace planning

modules/planning/optimizer/st_graph/st_graph_boundary.h

@@ -23,9 +23,10 @@
 
 #include <memory>
 #include <vector>
+#include <limits>
+#include <string>
 
 #include "modules/planning/proto/planning.pb.h"
-
 #include "modules/common/math/polygon2d.h"
 #include "modules/planning/common/path_obstacle.h"
 #include "modules/planning/optimizer/st_graph/st_graph_point.h"
@@ -55,7 +56,7 @@ class StGraphBoundary : public common::math::Polygon2d {
 
   ~StGraphBoundary() = default;
 
-  // TODO: add this function.
+  // TODO(all): add this function.
   // bool IsEmpty() const { return points.empty(); }
   bool IsPointInBoundary(const StGraphPoint& st_graph_point) const;
   bool IsPointInBoundary(const STPoint& st_point) const;

modules/planning/optimizer/st_graph/st_graph_data_test.cc

@@ -14,12 +14,11 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/common/path_obstacle.h"
-#include "modules/planning/optimizer/st_graph/st_graph_data.h"
-
 #include <algorithm>
 #include <cmath>
 
+#include "modules/planning/common/path_obstacle.h"
+#include "modules/planning/optimizer/st_graph/st_graph_data.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 

modules/planning/planner/em/decider.cc

@@ -18,6 +18,8 @@
  * @file decider.cpp
  **/
 
+#include <limits>
+
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/log.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
@@ -79,7 +81,7 @@ int Decider::MakeMainStopDecision(Frame* frame,
   for (const auto path_obstacle : path_obstacles.Items()) {
     const auto& obstacle = path_obstacle->Obstacle();
     const auto& object_decision = path_obstacle->LongitudinalDecision();
-    if (not object_decision.has_stop()) {
+    if (!object_decision.has_stop()) {
       continue;
     }
 

modules/planning/planner/rtk/rtk_replay_planner.cc

@@ -17,6 +17,7 @@
 #include "modules/planning/planner/rtk/rtk_replay_planner.h"
 
 #include <fstream>
+#include <utility>
 
 #include "modules/common/log.h"
 #include "modules/common/util/string_tokenizer.h"

modules/planning/reference_line/reference_line.cc

@@ -24,6 +24,7 @@
 #include <string>
 #include <utility>
 #include <vector>
+#include <limits>
 
 #include "boost/math/tools/minima.hpp"
 

modules/planning/reference_line/reference_line.h

@@ -37,8 +37,8 @@ namespace planning {
 class ReferenceLine {
  public:
   ReferenceLine() = default;
-  ReferenceLine(const std::vector<ReferencePoint>& reference_points);
-  ReferenceLine(const hdmap::Path& hdmap_path);
+  explicit ReferenceLine(const std::vector<ReferencePoint>& reference_points);
+  explicit ReferenceLine(const hdmap::Path& hdmap_path);
   ReferenceLine(const std::vector<ReferencePoint>& reference_points,
                 const std::vector<hdmap::LaneSegment>& lane_segments,
                 const double max_approximation_error);

modules/planning/trajectory_stitcher/trajectory_stitcher.cc

@@ -43,7 +43,7 @@ std::vector<common::TrajectoryPoint> compute_reinit_stitching_trajectory() {
 
   init_point.set_relative_time(0.0);
   return std::vector<common::TrajectoryPoint>(1, init_point);
-};
+}
 
 // Planning from current vehicle state:
 // if 1. the auto-driving mode is off or