Common: Migrate MakeSLPoint to PointFactory.

modules/common/util/BUILD

@@ -32,6 +32,7 @@ cc_library(
     hdrs = ["point_factory.h"],
     deps = [
         "//modules/common/math:geometry",
+        "//modules/common/proto:pnc_point_proto",
     ],
 )
 

modules/common/util/point_factory.h

@@ -17,6 +17,7 @@
 #pragma once
 
 #include "modules/common/math/vec2d.h"
+#include "modules/common/proto/pnc_point.pb.h"
 
 namespace apollo {
 namespace common {
@@ -28,6 +29,13 @@ class PointFactory {
   static inline math::Vec2d ToVec2d(const XY& xy) {
     return math::Vec2d(xy.x(), xy.y());
   }
+
+  static inline SLPoint ToSLPoint(const double s, const double l) {
+    SLPoint sl;
+    sl.set_s(s);
+    sl.set_l(l);
+    return sl;
+  }
 };
 
 }  // namespace util

modules/common/util/util.cc

@@ -23,13 +23,6 @@ namespace apollo {
 namespace common {
 namespace util {
 
-SLPoint MakeSLPoint(const double s, const double l) {
-  SLPoint sl;
-  sl.set_s(s);
-  sl.set_l(l);
-  return sl;
-}
-
 PointENU MakePointENU(const double x, const double y, const double z) {
   PointENU point_enu;
   point_enu.set_x(x);

modules/common/util/util.h

@@ -30,8 +30,6 @@
 #include <vector>
 
 #include "absl/memory/memory.h"
-#include "google/protobuf/util/message_differencer.h"
-
 #include "cyber/common/log.h"
 #include "cyber/common/types.h"
 #include "modules/common/math/vec2d.h"
@@ -76,14 +74,6 @@ bool WithinBound(T start, T end, T value) {
   return value >= start && value <= end;
 }
 
-/**
- * @brief create a SL point
- * @param s the s value
- * @param l the l value
- * @return a SLPoint instance
- */
-SLPoint MakeSLPoint(const double s, const double l);
-
 PointENU MakePointENU(const double x, const double y, const double z);
 
 PointENU operator+(const PointENU enu, const math::Vec2d& xy);

modules/planning/tasks/optimizers/road_graph/trajectory_cost.cc

@@ -27,7 +27,7 @@
 
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/vec2d.h"
-#include "modules/common/util/util.h"
+#include "modules/common/util/point_factory.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -227,7 +227,7 @@ ComparableCost TrajectoryCost::CalculateDynamicObstacleCost(
     const double l = curve.Evaluate(0, s);
     const double dl = curve.Evaluate(1, s);
 
-    const common::SLPoint sl = common::util::MakeSLPoint(ref_s, l);
+    const common::SLPoint sl = common::util::PointFactory::ToSLPoint(ref_s, l);
     const Box2d ego_box = GetBoxFromSLPoint(sl, dl);
     for (const auto &obstacle_trajectory : dynamic_obstacle_boxes_) {
       obstacle_cost +=

modules/planning/tasks/optimizers/road_graph/waypoint_sampler.cc

@@ -25,6 +25,7 @@
 #include "cyber/common/log.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/cartesian_frenet_conversion.h"
+#include "modules/common/util/point_factory.h"
 #include "modules/common/util/util.h"
 #include "modules/map/hdmap/hdmap_util.h"
 #include "modules/planning/common/ego_info.h"
@@ -141,7 +142,8 @@ bool WaypointSampler::SamplePathWaypoints(
     std::vector<common::SLPoint> level_points;
     planning_internal::SampleLayerDebug sample_layer_debug;
     for (size_t j = 0; j < sample_l.size(); ++j) {
-      common::SLPoint sl = common::util::MakeSLPoint(s, sample_l[j]);
+      common::SLPoint sl =
+          common::util::PointFactory::ToSLPoint(s, sample_l[j]);
       sample_layer_debug.add_sl_point()->CopyFrom(sl);
       level_points.push_back(std::move(sl));
     }

modules/planning/traffic_rules/change_lane.cc

@@ -22,7 +22,7 @@
 
 #include <algorithm>
 
-#include "modules/common/util/util.h"
+#include "modules/common/util/point_factory.h"
 
 namespace apollo {
 namespace planning {
@@ -107,8 +107,9 @@ bool ChangeLane::CreateGuardObstacle(
     auto ref_point = reference_line.GetNearestReferencePoint(ref_s);
 
     Vec2d xy_point;
-    if (!reference_line.SLToXY(common::util::MakeSLPoint(ref_s, sl_point.l()),
-                               &xy_point)) {
+    if (!reference_line.SLToXY(
+            common::util::PointFactory::ToSLPoint(ref_s, sl_point.l()),
+            &xy_point)) {
       return false;
     }