planning: move st_boundary to common/speed

modules/planning/common/BUILD

@@ -98,6 +98,7 @@ cc_library(
     deps = [
         ":indexed_list",
         ":obstacle",
+        "//modules/planning/common/speed:st_boundary",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/reference_line",
     ],

modules/planning/common/path_obstacle.cc

@@ -55,6 +55,13 @@ bool PathObstacle::Init(const ReferenceLine& reference_line) {
     AERROR << "Failed to get sl boundary for obstacle: " << id_;
     return false;
   }
+  if (!BuildStBoundary(reference_line, obstacle_)) {
+  }
+  return true;
+}
+
+bool PathObstacle::BuildStBoundary(const ReferenceLine& reference_line,
+                                   const Obstacle* obstacle) {
   return true;
 }
 

modules/planning/common/path_obstacle.h

@@ -37,6 +37,7 @@
 #include "modules/common/math/vec2d.h"
 #include "modules/planning/common/indexed_list.h"
 #include "modules/planning/common/obstacle.h"
+#include "modules/planning/common/speed/st_boundary.h"
 #include "modules/planning/reference_line/reference_line.h"
 
 namespace apollo {
@@ -123,14 +124,16 @@ class PathObstacle {
   static ObjectDecisionType MergeLateralDecision(const ObjectDecisionType& lhs,
                                                  const ObjectDecisionType& rhs);
 
+  bool BuildStBoundary(const ReferenceLine& reference_line,
+                       const Obstacle* obstacle);
+
   std::string id_;
   const Obstacle* obstacle_ = nullptr;
   std::vector<ObjectDecisionType> decisions_;
   std::vector<std::string> decider_tags_;
   SLBoundary perception_sl_boundary_;
 
-  // TODO(zhangliangliang): add st_boundary_ here.
-  // StBoundary st_boundary_;
+  StBoundary st_boundary_;
 
   ObjectDecisionType lateral_decision_;
   ObjectDecisionType longitudinal_decision_;

modules/planning/common/speed/BUILD

@@ -17,6 +17,36 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "st_boundary",
+    srcs = [
+        "st_boundary.cc",
+    ],
+    hdrs = [
+        "st_boundary.h",
+    ],
+    deps = [
+        ":st_point",
+        "//modules/common:log",
+        "//modules/planning/proto:planning_proto",
+    ],
+)
+
+cc_test(
+    name = "st_boundary_test",
+    size = "small",
+    srcs = [
+        "st_boundary_test.cc",
+    ],
+    deps = [
+        ":st_boundary",
+        "//modules/common:log",
+        "//modules/common/time",
+        "//modules/common/util",
+        "@gtest//:main",
+    ],
+)
+
 cc_library(
     name = "speed_data",
     srcs = [

modules/planning/tasks/st_graph/st_boundary.cc → modules/planning/common/speed/st_boundary.cc

@@ -18,7 +18,7 @@
   * @file
   **/
 
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 
 #include <algorithm>
 

modules/planning/tasks/st_graph/st_boundary_test.cc → modules/planning/common/speed/st_boundary_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 
 #include <algorithm>
 #include <cmath>

modules/planning/tasks/BUILD

@@ -55,7 +55,7 @@ cc_library(
         "//modules/planning/common:speed_limit",
         "//modules/planning/common/path:path_data",
         "//modules/planning/common/speed:speed_data",
-        "//modules/planning/tasks/st_graph:st_boundary",
+        "//modules/planning/common/speed:st_boundary",
         "@eigen//:eigen",
     ],
 )

modules/planning/tasks/dp_st_speed/BUILD

@@ -27,9 +27,9 @@ cc_library(
     deps = [
         "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:frame",
+        "//modules/planning/common/speed:st_boundary",
         "//modules/planning/math:double",
         "//modules/planning/proto:dp_st_speed_config_proto",
-        "//modules/planning/tasks/st_graph:st_boundary",
     ],
 )
 

modules/planning/tasks/dp_st_speed/dp_st_cost.h

@@ -27,7 +27,7 @@
 #include "modules/planning/proto/dp_st_speed_config.pb.h"
 
 #include "modules/planning/common/speed/st_point.h"
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 
 namespace apollo {
 namespace planning {

modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.h

@@ -34,7 +34,7 @@
 #include "modules/planning/common/planning_util.h"
 #include "modules/planning/common/speed/speed_data.h"
 #include "modules/planning/math/smoothing_spline/spline_1d_generator.h"
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 #include "modules/planning/tasks/st_graph/st_graph_data.h"
 
 namespace apollo {

modules/planning/tasks/speed_optimizer.h

@@ -27,7 +27,7 @@
 #include "modules/common/status/status.h"
 #include "modules/planning/common/speed/speed_data.h"
 #include "modules/planning/common/speed_limit.h"
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 #include "modules/planning/tasks/task.h"
 
 namespace apollo {

modules/planning/tasks/st_graph/BUILD

@@ -2,22 +2,6 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "st_boundary",
-    srcs = [
-        "st_boundary.cc",
-    ],
-    hdrs = [
-        "st_boundary.h",
-    ],
-    deps = [
-        "//modules/common:log",
-        "//modules/common/math",
-        "//modules/planning/common/speed:st_point",
-        "//modules/planning/proto:planning_proto",
-    ],
-)
-
 cc_library(
     name = "st_graph_data",
     srcs = [
@@ -27,9 +11,9 @@ cc_library(
         "st_graph_data.h",
     ],
     deps = [
-        ":st_boundary",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common:speed_limit",
+        "//modules/planning/common/speed:st_boundary",
     ],
 )
 
@@ -42,7 +26,6 @@ cc_library(
         "st_boundary_mapper.h",
     ],
     deps = [
-        ":st_boundary",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/configs/proto:vehicle_config_proto",
         "//modules/common/proto:pnc_point_proto",
@@ -57,6 +40,7 @@ cc_library(
         "//modules/planning/common/path:discretized_path",
         "//modules/planning/common/path:frenet_frame_path",
         "//modules/planning/common/path:path_data",
+        "//modules/planning/common/speed:st_boundary",
         "//modules/planning/common/trajectory:discretized_trajectory",
         "//modules/planning/math:double",
         "//modules/planning/proto:planning_proto",
@@ -83,21 +67,6 @@ cc_test(
     ],
 )
 
-cc_test(
-    name = "st_boundary_test",
-    size = "small",
-    srcs = [
-        "st_boundary_test.cc",
-    ],
-    deps = [
-        ":st_boundary",
-        "//modules/common:log",
-        "//modules/common/time",
-        "//modules/common/util",
-        "@gtest//:main",
-    ],
-)
-
 cc_test(
     name = "st_graph_data_test",
     size = "small",
@@ -105,7 +74,6 @@ cc_test(
         "st_graph_data_test.cc",
     ],
     deps = [
-        ":st_boundary",
         ":st_graph_data",
         "//modules/common:log",
         "//modules/common/time",

modules/planning/tasks/st_graph/st_boundary_mapper.h

@@ -31,7 +31,7 @@
 #include "modules/planning/common/path_decision.h"
 #include "modules/planning/common/speed_limit.h"
 #include "modules/planning/reference_line/reference_line.h"
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 
 namespace apollo {
 namespace planning {

modules/planning/tasks/st_graph/st_graph_data.h

@@ -27,7 +27,7 @@
 #include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/planning/common/speed_limit.h"
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 
 namespace apollo {
 namespace planning {

modules/planning/tasks/st_graph/st_graph_data_test.cc

@@ -23,7 +23,7 @@
 #include "gtest/gtest.h"
 
 #include "modules/common/log.h"
-#include "modules/planning/tasks/st_graph/st_boundary.h"
+#include "modules/planning/common/speed/st_boundary.h"
 
 namespace apollo {
 namespace planning {