removed veh_param in st_boundary_mapper.

modules/planning/optimizer/dp_st_speed/dp_st_boundary_mapper.cc

@@ -37,9 +37,8 @@ using apollo::common::PathPoint;
 using apollo::common::Status;
 
 DpStBoundaryMapper::DpStBoundaryMapper(
-    const StBoundaryConfig& st_boundary_config,
-    const ::apollo::common::config::VehicleParam& veh_param)
-    : StBoundaryMapper(st_boundary_config, veh_param) {}
+    const StBoundaryConfig& st_boundary_config)
+    : StBoundaryMapper(st_boundary_config) {}
 
 Status DpStBoundaryMapper::get_graph_boundary(
     const common::TrajectoryPoint& initial_planning_point,
@@ -131,7 +130,6 @@ Status DpStBoundaryMapper::map_obstacle_with_trajectory(
       std::uint32_t high_index = veh_path.size() - 1;
       bool find_low = false;
       bool find_high = false;
-
       while (high_index >= low_index) {
         if (find_high && find_low) {
           break;
@@ -202,7 +200,6 @@ Status DpStBoundaryMapper::map_obstacle_without_trajectory(
   std::uint32_t high_index = veh_path.size() - 1;
   bool find_low = false;
   bool find_high = false;
-
   while (high_index >= low_index) {
     if (find_high && find_low) {
       break;

modules/planning/optimizer/dp_st_speed/dp_st_boundary_mapper.h

@@ -32,8 +32,7 @@ namespace planning {
 
 class DpStBoundaryMapper : public StBoundaryMapper {
  public:
-  DpStBoundaryMapper(const StBoundaryConfig& st_boundary_config,
-                     const ::apollo::common::config::VehicleParam& veh_param);
+  DpStBoundaryMapper(const StBoundaryConfig& st_boundary_config);
 
   // TODO: combine two interfaces together to provide a st graph data type
   apollo::common::Status get_graph_boundary(

modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc

@@ -62,10 +62,8 @@ Status DpStSpeedOptimizer::Process(const PathData& path_data,
                                    const ReferenceLine& reference_line,
                                    DecisionData* const decision_data,
                                    SpeedData* const speed_data) {
-  const auto& veh_param = VehicleConfigHelper::GetConfig().vehicle_param();
-
   // step 1 get boundaries
-  DpStBoundaryMapper st_mapper(st_boundary_config_, veh_param);
+  DpStBoundaryMapper st_mapper(st_boundary_config_);
   double planning_distance = std::min(dp_st_speed_config_.total_path_length(),
                                       path_data.path().param_length());
   std::vector<StGraphBoundary> boundaries;

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_boundary_mapper.cc

@@ -44,8 +44,8 @@ using Box2d = apollo::common::math::Box2d;
 using Vec2d = apollo::common::math::Vec2d;
 
 QpSplineStBoundaryMapper::QpSplineStBoundaryMapper(
-    const StBoundaryConfig& st_boundary_config, const VehicleParam& veh_param)
-    : StBoundaryMapper(st_boundary_config, veh_param) {}
+    const StBoundaryConfig& st_boundary_config)
+    : StBoundaryMapper(st_boundary_config) {}
 
 Status QpSplineStBoundaryMapper::get_graph_boundary(
     const common::TrajectoryPoint& initial_planning_point,

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_boundary_mapper.h

@@ -35,9 +35,7 @@ namespace planning {
 
 class QpSplineStBoundaryMapper : public StBoundaryMapper {
  public:
-  QpSplineStBoundaryMapper(
-      const StBoundaryConfig& st_boundary_config,
-      const apollo::common::config::VehicleParam& veh_param);
+  QpSplineStBoundaryMapper(const StBoundaryConfig& st_boundary_config);
 
   apollo::common::Status get_graph_boundary(
       const common::TrajectoryPoint& initial_planning_point,

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc

@@ -67,13 +67,12 @@ Status QpSplineStSpeedOptimizer::Process(const PathData& path_data,
     AERROR << "Please call Init() before Process.";
     return Status(ErrorCode::PLANNING_ERROR, "Not init.");
   }
+
   double total_length = std::min(qp_spline_st_speed_config_.total_path_length(),
                                  path_data.path().param_length());
 
   // step 1 get boundaries
-  const auto& veh_param =
-      common::config::VehicleConfigHelper::GetConfig().vehicle_param();
-  QpSplineStBoundaryMapper st_mapper(st_boundary_config_, veh_param);
+  QpSplineStBoundaryMapper st_mapper(st_boundary_config_);
   std::vector<StGraphBoundary> boundaries;
   if (st_mapper.get_graph_boundary(
           init_point, *decision_data, path_data, reference_line,
@@ -96,6 +95,8 @@ Status QpSplineStSpeedOptimizer::Process(const PathData& path_data,
   }
 
   // step 2 perform graph search
+  const auto& veh_param =
+      common::config::VehicleConfigHelper::GetConfig().vehicle_param();
   QpSplineStGraph st_graph(qp_spline_st_speed_config_, veh_param);
 
   StGraphData st_graph_data(boundaries, init_point, speed_limits,

modules/planning/optimizer/st_graph/BUILD

@@ -57,6 +57,7 @@ cc_library(
     ],
     deps = [
         ":st_graph_boundary",
+        "//modules/common/configs:vehicle_config_helper",
         "//modules/common/configs/proto:vehicle_config_proto",
         "//modules/common/proto:path_point_proto",
         "//modules/common/status",

modules/planning/optimizer/st_graph/st_boundary_mapper.cc

@@ -38,10 +38,8 @@ using apollo::common::Status;
 using apollo::hdmap::HDMap;
 using apollo::localization::Pose;
 
-StBoundaryMapper::StBoundaryMapper(
-    const StBoundaryConfig& st_boundary_config,
-    const apollo::common::config::VehicleParam& veh_param)
-    : _st_boundary_config(st_boundary_config), _veh_param(veh_param) {}
+StBoundaryMapper::StBoundaryMapper(const StBoundaryConfig& st_boundary_config)
+    : _st_boundary_config(st_boundary_config) {}
 
 double StBoundaryMapper::get_area(
     const std::vector<STPoint>& boundary_points) const {
@@ -174,10 +172,5 @@ const StBoundaryConfig& StBoundaryMapper::st_boundary_config() const {
   return _st_boundary_config;
 }
 
-const apollo::common::config::VehicleParam& StBoundaryMapper::vehicle_param()
-    const {
-  return _veh_param;
-}
-
 }  // namespace planning
 }  // namespace apollo

modules/planning/optimizer/st_graph/st_boundary_mapper.h

@@ -23,12 +23,12 @@
 
 #include <vector>
 
-#include "modules/common/configs/proto/vehicle_config.pb.h"
 #include "modules/common/proto/path_point.pb.h"
 #include "modules/common/status/status.h"
 #include "modules/localization/proto/pose.pb.h"
 #include "modules/planning/proto/st_boundary_config.pb.h"
 
+#include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/planning/common/decision_data.h"
 #include "modules/planning/common/path/path_data.h"
@@ -42,8 +42,8 @@ namespace planning {
 
 class StBoundaryMapper {
  public:
-  StBoundaryMapper(const apollo::planning::StBoundaryConfig& st_boundary_config,
-                   const apollo::common::config::VehicleParam& veh_param);
+  StBoundaryMapper(
+      const apollo::planning::StBoundaryConfig& st_boundary_config);
 
   virtual ~StBoundaryMapper() = default;
 
@@ -60,12 +60,13 @@ class StBoundaryMapper {
       const std::uint32_t matrix_dimension_s, const double default_speed_limit,
       SpeedLimit* const speed_limit_data);
 
+ protected:
   const apollo::planning::StBoundaryConfig& st_boundary_config() const;
-  const apollo::common::config::VehicleParam& vehicle_param() const;
+  const apollo::common::config::VehicleParam& vehicle_param() const {
+    return common::config::VehicleConfigHelper::GetConfig().vehicle_param();
+  }
 
- protected:
   double get_area(const std::vector<STPoint>& boundary_points) const;
-
   bool check_overlap(const apollo::common::PathPoint& path_point,
                      const apollo::common::config::VehicleParam& params,
                      const apollo::common::math::Box2d& obs_box,
@@ -73,7 +74,6 @@ class StBoundaryMapper {
 
  private:
   apollo::planning::StBoundaryConfig _st_boundary_config;
-  apollo::common::config::VehicleParam _veh_param;
 };
 
 }  // namespace planning