planning: update header guards

modules/planning/common/speed/st_boundary.h

@@ -18,8 +18,8 @@
  *   @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_BOUNDARY_H_
-#define MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_BOUNDARY_H_
+#ifndef MODULES_PLANNING_COMMON_SPEED_ST_BOUNDARY_H_
+#define MODULES_PLANNING_COMMON_SPEED_ST_BOUNDARY_H_
 
 #include <limits>
 #include <memory>
@@ -138,4 +138,4 @@ class StBoundary : public common::math::Polygon2d {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_BOUNDARY_H_
+#endif  // MODULES_PLANNING_COMMON_SPEED_ST_BOUNDARY_H_

modules/planning/toolkits/deciders/backside_vehicle.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_BACKSIDE_VEHICE_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_BACKSIDE_VEHICE_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_BACKSIDE_VEHICE_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_BACKSIDE_VEHICE_H_
 
 #include <string>
 
@@ -48,4 +48,4 @@ class BacksideVehicle : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_BACK_SIDEVEHICE_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_BACK_SIDEVEHICE_H_

modules/planning/toolkits/deciders/change_lane.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CHANGE_LANE_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CHANGE_LANE_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_CHANGE_LANE_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_CHANGE_LANE_H_
 
 #include <string>
 #include <vector>
@@ -69,4 +69,4 @@ class ChangeLane : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CHANGE_LANE_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_CHANGE_LANE_H_

modules/planning/toolkits/deciders/creeper.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CREEPER_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CREEPER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_CREEPER_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_CREEPER_H_
 
 #include "modules/common/macro.h"
 #include "modules/map/pnc_map/path.h"
@@ -49,4 +49,4 @@ class Creeper {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CREEPER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_CREEPER_H_

modules/planning/toolkits/deciders/crosswalk.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CROSSWALK_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CROSSWALK_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_CROSSWALK_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_CROSSWALK_H_
 
 #include <string>
 #include <vector>
@@ -54,4 +54,4 @@ class Crosswalk : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_CROSSWALK_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_CROSSWALK_H_

modules/planning/toolkits/deciders/destination.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_DESTINATION_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_DESTINATION_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_DESTINATION_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_DESTINATION_H_
 
 #include <string>
 
@@ -55,4 +55,4 @@ class Destination : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_DESTINATION_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_DESTINATION_H_

modules/planning/toolkits/deciders/front_vehicle.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_FRONT_VEHICLE_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_FRONT_VEHICLE_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_FRONT_VEHICLE_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_FRONT_VEHICLE_H_
 
 #include <string>
 
@@ -52,4 +52,4 @@ class FrontVehicle : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_FRONT_VEHICLE_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_FRONT_VEHICLE_H_

modules/planning/toolkits/deciders/keep_clear.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_KEEP_CLEAR_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_KEEP_CLEAR_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_KEEP_CLEAR_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_KEEP_CLEAR_H_
 
 #include <string>
 
@@ -53,4 +53,4 @@ class KeepClear : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_KEEP_CLEAR_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_KEEP_CLEAR_H_

modules/planning/toolkits/deciders/object_priority.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_OBJECT_PRIORITY_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_OBJECT_PRIORITY_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_OBJECT_PRIORITY_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_OBJECT_PRIORITY_H_
 
 #include <string>
 
@@ -40,4 +40,4 @@ class ObjectPriority : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_OBJECT_PRIORITY_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_OBJECT_PRIORITY_H_

modules/planning/toolkits/deciders/pull_over.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_PULLOVER_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_PULLOVER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_PULLOVER_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_PULLOVER_H_
 
 #include <string>
 #include <unordered_map>
@@ -122,4 +122,4 @@ class PullOver : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_PULLOVER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_PULLOVER_H_

modules/planning/toolkits/deciders/reference_line_end.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_REFERENCE_LINE_END_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_REFERENCE_LINE_END_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_REFERENCE_LINE_END_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_REFERENCE_LINE_END_H_
 
 #include <string>
 
@@ -47,4 +47,4 @@ class ReferenceLineEnd : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_REFERENCE_LINE_END_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_REFERENCE_LINE_END_H_

modules/planning/toolkits/deciders/rerouting.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_REROUTING_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_REROUTING_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_REROUTING_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_REROUTING_H_
 
 #include <string>
 
@@ -50,4 +50,4 @@ class Rerouting : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_REROUTING_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_REROUTING_H_

modules/planning/toolkits/deciders/signal_light.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_SIGNAL_LIGHT_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_SIGNAL_LIGHT_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_SIGNAL_LIGHT_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_SIGNAL_LIGHT_H_
 
 #include <string>
 #include <unordered_map>
@@ -63,4 +63,4 @@ class SignalLight : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_SIGNAL_LIGHT_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_SIGNAL_LIGHT_H_

modules/planning/toolkits/deciders/stop_sign.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_STOP_SIGN_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_STOP_SIGN_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_STOP_SIGN_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_STOP_SIGN_H_
 
 #include <string>
 #include <unordered_map>
@@ -85,4 +85,4 @@ class StopSign : public TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_STOP_SIGN_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_STOP_SIGN_H_

modules/planning/toolkits/deciders/traffic_decider.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_TRAFFIC_DECIDER_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_TRAFFIC_DECIDER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_TRAFFIC_DECIDER_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_TRAFFIC_DECIDER_H_
 
 #include <string>
 #include <vector>
@@ -68,4 +68,4 @@ class TrafficDecider {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_TRAFFIC_DECIDER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_TRAFFIC_DECIDER_H_

modules/planning/toolkits/deciders/traffic_rule.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_TRAFFIC_RULE_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_TRAFFIC_RULE_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_TRAFFIC_RULE_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_TRAFFIC_RULE_H_
 
 #include <string>
 
@@ -47,4 +47,4 @@ class TrafficRule {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_TRAFFIC_RULE_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_TRAFFIC_RULE_H_

modules/planning/toolkits/deciders/util.h

@@ -18,8 +18,8 @@
  * @file util.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_UTIL_H_
-#define MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_UTIL_H_
+#ifndef MODULES_PLANNING_TOOLKITS_DECIDERS_UTIL_H_
+#define MODULES_PLANNING_TOOLKITS_DECIDERS_UTIL_H_
 
 #include "modules/planning/common/reference_line_info.h"
 
@@ -35,4 +35,4 @@ double GetADCStopDeceleration(ReferenceLineInfo* const reference_line_info,
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TRAFFIC_DECIDER_UTIL_H_
+#endif  // MODULES_PLANNING_TOOLKITS_DECIDERS_UTIL_H_

modules/planning/toolkits/optimizers/dp_poly_path/comparable_cost.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_POLY_PATH_COMPARABLE_COST_H_
-#define MODULES_PLANNING_TASKS_DP_POLY_PATH_COMPARABLE_COST_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_COMPARABLE_COST_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_COMPARABLE_COST_H_
 
 #include <cmath>
 #include <cstdlib>
@@ -119,4 +119,4 @@ class ComparableCost {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_POLY_PATH_COMPARABLE_COST_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_COMPARABLE_COST_H_

modules/planning/toolkits/optimizers/dp_poly_path/dp_poly_path_optimizer.h

@@ -18,8 +18,8 @@
  * @file dp_poly_path_optimizer.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_POLY_PATH_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_DP_POLY_PATH_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_OPTIMIZER_H_
 
 #include <string>
 
@@ -55,4 +55,4 @@ class DpPolyPathOptimizer : public PathOptimizer {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_POLY_PATH_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_OPTIMIZER_H_

modules/planning/toolkits/optimizers/dp_poly_path/dp_road_graph.h

@@ -18,8 +18,8 @@
  * @file dp_road_graph.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_POLY_PATH_DP_ROAD_GRAPH_H_
-#define MODULES_PLANNING_TASKS_DP_POLY_PATH_DP_ROAD_GRAPH_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_DP_ROAD_GRAPH_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_DP_ROAD_GRAPH_H_
 
 #include <limits>
 #include <list>
@@ -132,4 +132,4 @@ class DPRoadGraph {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_POLY_PATH_DP_ROAD_GRAPH_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_DP_ROAD_GRAPH_H_

modules/planning/toolkits/optimizers/dp_poly_path/trajectory_cost.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_POLY_PATH_TRAJECTORY_COST_H_
-#define MODULES_PLANNING_TASKS_DP_POLY_PATH_TRAJECTORY_COST_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_TRAJECTORY_COST_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_TRAJECTORY_COST_H_
 
 #include <vector>
 
@@ -90,4 +90,4 @@ class TrajectoryCost {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_POLY_PATH_TRAJECTORY_COST_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_POLY_PATH_TRAJECTORY_COST_H_

modules/planning/toolkits/optimizers/dp_st_speed/dp_st_cost.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_ST_SPEED_DP_ST_COST_H_
-#define MODULES_PLANNING_TASKS_DP_ST_SPEED_DP_ST_COST_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_DP_ST_COST_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_DP_ST_COST_H_
 
 #include <string>
 #include <unordered_map>
@@ -94,4 +94,4 @@ class DpStCost {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_ST_SPEED_DP_ST_COST_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_DP_ST_COST_H_

modules/planning/toolkits/optimizers/dp_st_speed/dp_st_graph.h

@@ -18,8 +18,8 @@
  * @file dp_st_graph.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_ST_SPEED_DP_ST_GRAPH_H_
-#define MODULES_PLANNING_TASKS_DP_ST_SPEED_DP_ST_GRAPH_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_DP_ST_GRAPH_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_DP_ST_GRAPH_H_
 
 #include <vector>
 
@@ -102,4 +102,4 @@ class DpStGraph {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_ST_SPEED_DP_ST_GRAPH_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_DP_ST_GRAPH_H_

modules/planning/toolkits/optimizers/dp_st_speed/dp_st_speed_optimizer.h

@@ -18,8 +18,8 @@
  * @file dp_st_speed_optimizer.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_DP_ST_SPEED_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_DP_ST_SPEED_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_OPTIMIZER_H_
 
 #include <string>
 
@@ -71,4 +71,4 @@ class DpStSpeedOptimizer : public SpeedOptimizer {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_DP_ST_SPEED_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_DP_ST_SPEED_OPTIMIZER_H_

modules/planning/toolkits/optimizers/dp_st_speed/st_graph_point.h

@@ -18,8 +18,8 @@
  *  @file: st_graph_point.h
  */
 
-#ifndef MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_POINT_H_
-#define MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_POINT_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_GRAPH_POINT_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_GRAPH_POINT_H_
 
 #include <limits>
 
@@ -68,4 +68,4 @@ class StGraphPoint {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_POINT_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_GRAPH_POINT_H_

modules/planning/toolkits/optimizers/path_decider/path_decider.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_PATH_DECIDER_PATH_DECIDER_H_
-#define MODULES_PLANNING_TASKS_PATH_DECIDER_PATH_DECIDER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_PATH_DECIDER_PATH_DECIDER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_PATH_DECIDER_PATH_DECIDER_H_
 
 #include <limits>
 #include <string>
@@ -54,4 +54,4 @@ class PathDecider : public Task {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_PATH_DECIDER_PATH_DECIDER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_PATH_DECIDER_PATH_DECIDER_H_

modules/planning/toolkits/optimizers/path_optimizer.h

@@ -18,8 +18,8 @@
  * @file path_optimizer.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_PATH_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_PATH_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_PATH_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_PATH_OPTIMIZER_H_
 
 #include <string>
 
@@ -50,4 +50,4 @@ class PathOptimizer : public Task {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_PATH_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_PATH_OPTIMIZER_H_

modules/planning/toolkits/optimizers/poly_st_speed/poly_st_graph.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_POLY_ST_SPEED_POLY_ST_GRAPH_H_
-#define MODULES_PLANNING_TASKS_POLY_ST_SPEED_POLY_ST_GRAPH_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_POLY_ST_SPEED_POLY_ST_GRAPH_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_POLY_ST_SPEED_POLY_ST_GRAPH_H_
 
 #include <limits>
 #include <string>
@@ -93,4 +93,4 @@ class PolyStGraph {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_POLY_ST_SPEED_POLY_ST_GRAPH_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_POLY_ST_SPEED_POLY_ST_GRAPH_H_

modules/planning/toolkits/optimizers/poly_st_speed/poly_st_speed_optimizer.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_POLY_ST_POLY_ST_SPEED_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_POLY_ST_POLY_ST_SPEED_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_POLY_ST_SPEED_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_POLY_ST_SPEED_OPTIMIZER_H_
 
 #include "modules/common/configs/proto/vehicle_config.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
@@ -54,4 +54,4 @@ class PolyStSpeedOptimizer : public SpeedOptimizer {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_POLY_ST_POLY_ST_SPEED_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_POLY_ST_SPEED_OPTIMIZER_H_

modules/planning/toolkits/optimizers/poly_st_speed/speed_profile_cost.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_POLY_ST_SPEED_SPEED_PROFILE_COST_H_
-#define MODULES_PLANNING_TASKS_POLY_ST_SPEED_SPEED_PROFILE_COST_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_PROFILE_COST_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_PROFILE_COST_H_
 
 #include <vector>
 
@@ -57,4 +57,4 @@ class SpeedProfileCost {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_POLY_ST_SPEED_SPEED_PROFILE_COST_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_PROFILE_COST_H_

modules/planning/toolkits/optimizers/qp_spline_path/qp_frenet_frame.h

@@ -19,8 +19,8 @@
  * @brief: natural coordinate system
  **/
 
-#ifndef MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_FRENET_FRAME_H_
-#define MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_FRENET_FRAME_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_FRENET_FRAME_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_FRENET_FRAME_H_
 
 #include <memory>
 #include <utility>
@@ -108,4 +108,4 @@ class QpFrenetFrame {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_FRENET_FRAME_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_FRENET_FRAME_H_

modules/planning/toolkits/optimizers/qp_spline_path/qp_spline_path_generator.h

@@ -18,8 +18,8 @@
  * @file qp_spline_path_generator.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_SPLINE_PATH_GENERATOR_H_
-#define MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_SPLINE_PATH_GENERATOR_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_PATH_GENERATOR_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_PATH_GENERATOR_H_
 
 #include <memory>
 #include <string>
@@ -93,4 +93,4 @@ class QpSplinePathGenerator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_SPLINE_PATH_GENERATOR_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_PATH_GENERATOR_H_

modules/planning/toolkits/optimizers/qp_spline_path/qp_spline_path_optimizer.h

@@ -18,8 +18,8 @@
  * @file qp_path_optimizer.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_SPLINE_PATH_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_SPLINE_PATH_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_PATH_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_PATH_OPTIMIZER_H_
 
 #include <memory>
 #include <string>
@@ -54,4 +54,4 @@ class QpSplinePathOptimizer : public PathOptimizer {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_QP_SPLINE_PATH_QP_PATH_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_PATH_OPTIMIZER_H_

modules/planning/toolkits/optimizers/qp_spline_st_speed/qp_piecewise_st_graph.h

@@ -18,8 +18,8 @@
  * @file qp_spline_st_graph.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_QP_SPLINE_ST_SPEED_QP_PIECEWISE_ST_GRAPH_H_
-#define MODULES_PLANNING_TASKS_QP_SPLINE_ST_SPEED_QP_PIECEWISE_ST_GRAPH_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_PIECEWISE_ST_GRAPH_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_PIECEWISE_ST_GRAPH_H_
 
 #include <memory>
 #include <utility>
@@ -110,4 +110,4 @@ class QpPiecewiseStGraph {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_QP_SPLINE_ST_SPEED_QP_PIECEWISE_ST_GRAPH_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_PIECEWISE_ST_GRAPH_H_

modules/planning/toolkits/optimizers/qp_spline_st_speed/qp_spline_st_graph.h

@@ -18,8 +18,8 @@
  * @file qp_spline_st_graph.h
  **/
 
-#ifndef MODULES_PLANNING_TASKS_QP_SPLINE_ST_SPEED_QP_SPLINE_ST_GRAPH_H_
-#define MODULES_PLANNING_TASKS_QP_SPLINE_ST_SPEED_QP_SPLINE_ST_GRAPH_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_ST_GRAPH_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_ST_GRAPH_H_
 
 #include <memory>
 #include <utility>
@@ -132,4 +132,4 @@ class QpSplineStGraph {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_QP_SPLINE_ST_SPEED_QP_SPLINE_ST_GRAPH_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_ST_GRAPH_H_

modules/planning/toolkits/optimizers/qp_spline_st_speed/qp_spline_st_speed_optimizer.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_QP_SPLINE_ST_QP_SPLINE_ST_SPEED_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_QP_SPLINE_ST_QP_SPLINE_ST_SPEED_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_ST_SPEED_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_ST_SPEED_OPTIMIZER_H_
 
 #include <memory>
 #include <string>
@@ -61,4 +61,4 @@ class QpSplineStSpeedOptimizer : public SpeedOptimizer {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_QP_SPLINE_ST_QP_SPLINE_ST_SPEED_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_QP_SPLINE_ST_SPEED_OPTIMIZER_H_

modules/planning/toolkits/optimizers/speed_decider/speed_decider.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_SPEED_DECIDER_SPEED_DECIDER_H_
-#define MODULES_PLANNING_TASKS_SPEED_DECIDER_SPEED_DECIDER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_DECIDER_SPEED_DECIDER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_DECIDER_SPEED_DECIDER_H_
 
 #include <string>
 
@@ -104,4 +104,4 @@ class SpeedDecider : public Task {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_SPEED_DECIDER_SPEED_DECIDER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_DECIDER_SPEED_DECIDER_H_

modules/planning/toolkits/optimizers/speed_optimizer.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_SPEED_OPTIMIZER_H_
-#define MODULES_PLANNING_TASKS_SPEED_OPTIMIZER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_OPTIMIZER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_OPTIMIZER_H_
 
 #include <string>
 #include <vector>
@@ -56,4 +56,4 @@ class SpeedOptimizer : public Task {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_SPEED_OPTIMIZER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_SPEED_OPTIMIZER_H_

modules/planning/toolkits/optimizers/st_graph/speed_limit_decider.h

@@ -18,8 +18,8 @@
  *   @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_ST_GRAPH_SPEED_LIMIT_DECIDER_H_
-#define MODULES_PLANNING_TASKS_ST_GRAPH_SPEED_LIMIT_DECIDER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_SPEED_LIMIT_DECIDER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_SPEED_LIMIT_DECIDER_H_
 
 #include <string>
 #include <vector>
@@ -68,4 +68,4 @@ class SpeedLimitDecider {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_ST_GRAPH_SPEED_LIMIT_DECIDER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_SPEED_LIMIT_DECIDER_H_

modules/planning/toolkits/optimizers/st_graph/st_boundary_mapper.h

@@ -18,8 +18,8 @@
  *   @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_ST_GRAPH_ST_BOUNDARY_MAPPER_H_
-#define MODULES_PLANNING_TASKS_ST_GRAPH_ST_BOUNDARY_MAPPER_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_BOUNDARY_MAPPER_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_BOUNDARY_MAPPER_H_
 
 #include <string>
 #include <vector>
@@ -95,4 +95,4 @@ class StBoundaryMapper {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_ST_GRAPH_ST_BOUNDARY_MAPPER_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_BOUNDARY_MAPPER_H_

modules/planning/toolkits/optimizers/st_graph/st_graph_data.h

@@ -19,8 +19,8 @@
  * @brief: data with map info and obstacle info
  **/
 
-#ifndef MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_DATA_H_
-#define MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_DATA_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_GRAPH_DATA_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_GRAPH_DATA_H_
 
 #include <vector>
 
@@ -58,4 +58,4 @@ class StGraphData {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_ST_GRAPH_ST_GRAPH_DATA_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_ST_GRAPH_ST_GRAPH_DATA_H_

modules/planning/toolkits/optimizers/task.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_TASKS_TASK_H_
-#define MODULES_PLANNING_TASKS_TASK_H_
+#ifndef MODULES_PLANNING_TOOLKITS_OPTIMIZERS_TASK_H_
+#define MODULES_PLANNING_TOOLKITS_OPTIMIZERS_TASK_H_
 
 #include <string>
 
@@ -55,4 +55,4 @@ class Task {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_TASKS_TASK_H_
+#endif  // MODULES_PLANNING_TOOLKITS_OPTIMIZERS_TASK_H_