Planning: rename trajectory_generator to manipulator

modules/planning/lattice/trajectory_generator/BUILD → modules/planning/lattice/manipulator/BUILD

@@ -38,7 +38,7 @@ cc_library(
         "//modules/planning/lattice/trajectory1d:piecewise_acceleration_trajectory1d",
         "//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d",
         "//modules/planning/lattice/trajectory1d:piecewise_trajectory1d",
-        "//modules/planning/lattice/trajectory_generator:end_condition_sampler",
+        "//modules/planning/lattice/manipulator:end_condition_sampler",
         "//modules/planning/math/curve1d:quartic_polynomial_curve1d",
         "//modules/planning/math/curve1d:quintic_polynomial_curve1d",
         "//modules/planning/proto:lattice_sampling_config_proto",
@@ -77,8 +77,8 @@ cc_library(
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common/trajectory:discretized_trajectory",
         "//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d",
-        "//modules/planning/lattice/trajectory_generator:trajectory1d_generator",
-        "//modules/planning/lattice/trajectory_generator:trajectory_combiner",
+        "//modules/planning/lattice/manipulator:trajectory1d_generator",
+        "//modules/planning/lattice/manipulator:trajectory_combiner",
         "//modules/planning/math/curve1d",
     ],
 )

modules/planning/lattice/trajectory_generator/backup_trajectory_generator.cc → modules/planning/lattice/manipulator/backup_trajectory_generator.cc

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
+#include "modules/planning/lattice/manipulator/backup_trajectory_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory_combiner.h"
 
 namespace apollo {
 namespace planning {

modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h → modules/planning/lattice/manipulator/backup_trajectory_generator.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
 
 #include <array>
 #include <functional>
@@ -31,7 +31,7 @@
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/trajectory/discretized_trajectory.h"
 #include "modules/planning/lattice/trajectory1d/constant_deceleration_trajectory1d.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
 #include "modules/planning/math/curve1d/curve1d.h"
 
 namespace apollo {
@@ -87,4 +87,4 @@ class BackupTrajectoryGenerator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_

modules/planning/lattice/trajectory_generator/end_condition_sampler.cc → modules/planning/lattice/manipulator/end_condition_sampler.cc

@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/trajectory_generator/end_condition_sampler.h"
+#include "modules/planning/lattice/manipulator/end_condition_sampler.h"
 
 #include <algorithm>
 #include <utility>

modules/planning/lattice/trajectory_generator/end_condition_sampler.h → modules/planning/lattice/manipulator/end_condition_sampler.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
 
 #include <array>
 #include <utility>
@@ -75,4 +75,4 @@ class EndConditionSampler {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_

modules/planning/lattice/trajectory_generator/trajectory1d_generator.cc → modules/planning/lattice/manipulator/trajectory1d_generator.cc

@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
 
 #include <algorithm>
 #include <cmath>

modules/planning/lattice/trajectory_generator/trajectory1d_generator.h → modules/planning/lattice/manipulator/trajectory1d_generator.h

@@ -18,13 +18,13 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
 
 #include <memory>
 #include <vector>
 
-#include "modules/planning/lattice/trajectory_generator/end_condition_sampler.h"
+#include "modules/planning/lattice/manipulator/end_condition_sampler.h"
 #include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 #include "modules/planning/lattice/behavior_decider/prediction_querier.h"
 #include "modules/planning/math/curve1d/curve1d.h"
@@ -76,4 +76,4 @@ class Trajectory1dGenerator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_

modules/planning/lattice/trajectory_generator/trajectory_combiner.cc → modules/planning/lattice/manipulator/trajectory_combiner.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
+#include "modules/planning/lattice/manipulator/trajectory_combiner.h"
 
 #include <algorithm>
 

modules/planning/lattice/trajectory_generator/trajectory_combiner.h → modules/planning/lattice/manipulator/trajectory_combiner.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
 
 #include <vector>
 
@@ -41,4 +41,4 @@ class TrajectoryCombiner {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_

modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc → modules/planning/lattice/manipulator/trajectory_evaluator.cc

@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/trajectory_generator/trajectory_evaluator.h"
+#include "modules/planning/lattice/manipulator/trajectory_evaluator.h"
 
 #include <cmath>
 #include <functional>

modules/planning/lattice/trajectory_generator/trajectory_evaluator.h → modules/planning/lattice/manipulator/trajectory_evaluator.h

@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
 
 #include <functional>
 #include <memory>
@@ -126,4 +126,4 @@ class TrajectoryEvaluator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_

modules/planning/planner/lattice/BUILD

@@ -20,10 +20,10 @@ cc_library(
         "//modules/planning/constraint_checker:collision_checker",
         "//modules/planning/lattice/behavior_decider",
         "//modules/planning/lattice/behavior_decider:path_time_graph",
-        "//modules/planning/lattice/trajectory_generator:backup_trajectory_generator",
-        "//modules/planning/lattice/trajectory_generator:trajectory1d_generator",
-        "//modules/planning/lattice/trajectory_generator:trajectory_combiner",
-        "//modules/planning/lattice/trajectory_generator:trajectory_evaluator",
+        "//modules/planning/lattice/manipulator:backup_trajectory_generator",
+        "//modules/planning/lattice/manipulator:trajectory1d_generator",
+        "//modules/planning/lattice/manipulator:trajectory_combiner",
+        "//modules/planning/lattice/manipulator:trajectory_evaluator",
         "//modules/planning/lattice/trajectory1d:lattice_trajectory1d",
         "//modules/planning/planner",
         "//modules/planning/proto:planning_proto",

modules/planning/planner/lattice/lattice_planner.cc

@@ -37,10 +37,10 @@
 #include "modules/planning/constraint_checker/constraint_checker.h"
 #include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 #include "modules/planning/lattice/behavior_decider/prediction_querier.h"
-#include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory_evaluator.h"
+#include "modules/planning/lattice/manipulator/backup_trajectory_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory_combiner.h"
+#include "modules/planning/lattice/manipulator/trajectory_evaluator.h"
 #include "modules/planning/lattice/trajectory1d/lattice_trajectory1d.h"
 
 namespace apollo {

modules/planning/proto/lattice_structure.proto

@@ -2,9 +2,6 @@ syntax = "proto2";
 
 package apollo.planning;
 
-import "modules/common/proto/pnc_point.proto";
-import "modules/planning/proto/lattice_sampling_config.proto";
-
 message PathTimePoint {
   optional double t = 1;
   optional double s = 2;