diff --git a/modules/planning/common/BUILD b/modules/planning/common/BUILD
index 532d94dbeb7f3323e7fae7e32d78fe156351d58f..54a2988457813369b2d7a5250a37dd555a33c602 100644
--- a/modules/planning/common/BUILD
+++ b/modules/planning/common/BUILD
@@ -50,6 +50,7 @@ cc_library(
     deps = [
         "//modules/common/math:box2d",
         "//modules/planning/common:planning_object",
+        "//modules/planning/common/trajectory:prediction_trajectory",
     ],
 )
 
@@ -127,13 +128,12 @@ cc_library(
         "frame.h",
     ],
     deps = [
-        "//modules/planning/common:planning_data",
-        "//modules/planning/common:environment",
         "//modules/common:log",
+        "//modules/planning/common:environment",
+        "//modules/planning/common:planning_data",
     ],
 )
 
-
 cc_library(
     name = "speed_limit",
     srcs = [
@@ -161,8 +161,8 @@ cc_library(
         ":frame",
         ":planning_data",
         ":planning_gflags",
-        "//modules/common/status",
         "//modules/common",
+        "//modules/common/status",
         "//modules/planning/state_machine:master_state_machine",
     ],
 )
@@ -171,8 +171,8 @@ cc_library(
     name = "planning_common",
     deps = [
         "@eigen//:eigen",
-        ":frame",
         ":data_center",
+        ":frame",
         ":planning_gflags",
         ":speed_limit",
         "//modules/common:log",
diff --git a/modules/planning/common/map_object.cc b/modules/planning/common/map_object.cc
index 623575620f21035ed91a788eb25ac71bdd21a3c1..05e213d4debcc7a8b221c2e35dc0b2d7530edebc 100644
--- a/modules/planning/common/map_object.cc
+++ b/modules/planning/common/map_object.cc
@@ -24,7 +24,7 @@ namespace apollo {
 namespace planning {
 
 std::string MapObject::Id() const {
-    return id_;
+  return id_;
 }
 
 } // namespace planning
diff --git a/modules/planning/common/map_object.h b/modules/planning/common/map_object.h
index edad9f2c928c961fed0abc0e1f3dd10e4885d661..6aa770839c5276eb9dc0a089e46876d93869eac0 100644
--- a/modules/planning/common/map_object.h
+++ b/modules/planning/common/map_object.h
@@ -27,12 +27,12 @@ namespace apollo {
 namespace planning {
 
 class MapObject : public PlanningObject {
-public:
-    MapObject() = default;
-    std::string Id() const;
+ public:
+  MapObject() = default;
+  std::string Id() const;
 
-private:
-    std::string id_;
+ private:
+  std::string id_;
 };
 
 } // namespace planning
diff --git a/modules/planning/common/obstacle.cc b/modules/planning/common/obstacle.cc
index 5ce9db9d28f6c6dd32b73af8af05ec2d3996c3ed..6f89d6779d7bef9289a704f6dccf4a13fe5b8412 100644
--- a/modules/planning/common/obstacle.cc
+++ b/modules/planning/common/obstacle.cc
@@ -20,86 +20,76 @@
 
 #include "modules/planning/common/obstacle.h"
 
-//#include <sstream>
+#include <sstream>
 
 namespace apollo {
 namespace planning {
 
-
 int Obstacle::Id() const {
-    return id_;
+  return id_;
 }
 
 void Obstacle::SetId(int id) {
-    id_ = id;
+  id_ = id;
 }
 
 double Obstacle::Height() const {
-    return height_;
+  return height_;
 }
 
 void Obstacle::SetHeight(const double height) {
-    height_ = height;
+  height_ = height;
 }
 
 double Obstacle::Width() const {
-    return width_;
+  return width_;
 }
 
 void Obstacle::SetWidth(const double width) {
-    width_ = width;
+  width_ = width;
 }
 
 double Obstacle::Length() const {
-    return length_;
+  return length_;
 }
 
 void Obstacle::SetLength(const double length) {
-    length_ = length;
+  length_ = length;
 }
 
 double Obstacle::Heading() const {
-    return heading_;
+  return heading_;
 }
 
 void Obstacle::SetHeading(const double heading) {
-    heading_ = heading;
+  heading_ = heading;
 }
 
 ::apollo::common::math::Box2d Obstacle::BoundingBox() const {
-    return ::apollo::common::math::Box2d(center_, heading_, length_, width_);
+  return ::apollo::common::math::Box2d(center_, heading_, length_, width_);
 }
 
-const Obstacle::ObstacleType& Obstacle::Type() const {
-    return type_;
+const Obstacle::ObstacleType &Obstacle::Type() const {
+  return type_;
 }
 
-void Obstacle::SetType(const ObstacleType& type) {
-    type_ = type;
+void Obstacle::SetType(const ObstacleType &type) {
+  type_ = type;
 }
 
-// TODO: to be added
-/*
-const std::vector<PredictionTrajectory>&
+const std::vector<PredictionTrajectory> &
 Obstacle::prediction_trajectories() const {
-    return _prediction_trajectories;
+  return prediction_trajectories_;
 }
-*/
 
-// TODO: to be added
-/*
 void Obstacle::add_prediction_trajectory(
-    const PredictionTrajectory& prediction_trajectory) {
-    _prediction_trajectories.push_back(prediction_trajectory);
+    const PredictionTrajectory &prediction_trajectory) {
+  prediction_trajectories_.push_back(prediction_trajectory);
 }
-*/
 
-// TODO: to be added
-/*
-std::vector<PredictionTrajectory>* Obstacle::mutable_prediction_trajectories() {
-    return &_prediction_trajectories;
+std::vector<PredictionTrajectory> *Obstacle::mutable_prediction_trajectories() {
+  return &prediction_trajectories_;
 }
-*/
 
-} // namespace planning
-} // namespace apollo
+}  // namespace planning
+}  // namespace apollo
diff --git a/modules/planning/common/obstacle.h b/modules/planning/common/obstacle.h
index da31412d53d231ba40d7c70fa7d167a425723149..4b5c142b2f0ca9c9972be50775db33430a6ea6f5 100644
--- a/modules/planning/common/obstacle.h
+++ b/modules/planning/common/obstacle.h
@@ -26,64 +26,62 @@
 #include <vector>
 
 #include "modules/common/math/box2d.h"
-//#include "common/trajectory/prediction_trajectory.h"
+#include "modules/planning/common/trajectory/prediction_trajectory.h"
 
 namespace apollo {
 namespace planning {
 
 class Obstacle : public PlanningObject {
-public:
-    enum class ObstacleType {
-        UNKNOWN = 0,
-        UNKNOWN_MOVABLE = 1,
-        UNKNOWN_UNMOVABLE = 2,
-        PEDESTRIAN = 3,
-        BICYCLE = 4,
-        VEHICLE = 5,
-    };
-
-    Obstacle() = default;
-
-    int Id() const;
-    void SetId(int id);
-
-    const ObstacleType& Type() const;
-    void SetType(const ObstacleType& type);
-
-    double Height() const;
-    void SetHeight(const double height);
-
-    double Width() const;
-    void SetWidth(const double width);
-
-    double Length() const;
-    void SetLength(const double length);
-
-    double Heading() const;
-    void SetHeading(const double heading);
-
-    ::apollo::common::math::Box2d BoundingBox() const;
-
-    // TODO: to be added
-    //const std::vector<PredictionTrajectory>& prediction_trajectories() const;
-    //void add_prediction_trajectory(
-    //        const PredictionTrajectory& prediction_trajectory);
-    //std::vector<PredictionTrajectory>* mutable_prediction_trajectories();
-
-private:
-    int id_ = 0;
-    double height_ = 0.0;
-    double width_ = 0.0;
-    double length_ = 0.0;
-    double heading_ = 0.0;
-
-    ::apollo::common::math::Vec2d center_;
-    // TODO: to be added
-    //std::vector<PredictionTrajectory> prediction_trajectories_;
-    ObstacleType type_ = ObstacleType::VEHICLE;
+ public:
+  enum class ObstacleType {
+    UNKNOWN = 0,
+    UNKNOWN_MOVABLE = 1,
+    UNKNOWN_UNMOVABLE = 2,
+    PEDESTRIAN = 3,
+    BICYCLE = 4,
+    VEHICLE = 5,
+  };
+
+  Obstacle() = default;
+
+  int Id() const;
+  void SetId(int id);
+
+  const ObstacleType &Type() const;
+  void SetType(const ObstacleType &type);
+
+  double Height() const;
+  void SetHeight(const double height);
+
+  double Width() const;
+  void SetWidth(const double width);
+
+  double Length() const;
+  void SetLength(const double length);
+
+  double Heading() const;
+  void SetHeading(const double heading);
+
+  ::apollo::common::math::Box2d BoundingBox() const;
+
+  const std::vector<PredictionTrajectory> &prediction_trajectories() const;
+  void add_prediction_trajectory(
+      const PredictionTrajectory &prediction_trajectory);
+  std::vector<PredictionTrajectory> *mutable_prediction_trajectories();
+
+ private:
+  int id_ = 0;
+  double height_ = 0.0;
+  double width_ = 0.0;
+  double length_ = 0.0;
+  double heading_ = 0.0;
+
+  ::apollo::common::math::Vec2d center_;
+  std::vector<PredictionTrajectory> prediction_trajectories_;
+  ObstacleType type_ = ObstacleType::VEHICLE;
 };
 
-} // namespace planning
-} // namespace apollo
+}  // namespace planning
+}  // namespace apollo
 
-#endif // MODULES_PLANNING_COMMON_OBSTACLE_H
+#endif  // MODULES_PLANNING_COMMON_OBSTACLE_H