Planning: use log in common.

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_test.cc

@@ -14,18 +14,22 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include <glog/logging.h>
 #include <algorithm>
 #include <functional>
 #include <map>
 #include <string>
 #include <vector>
+
 #include "boost/format.hpp"
 #include "gtest/gtest.h"
+
+#include "modules/common/log.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_sensor_manager.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_sensor_object.h"
+
 #define protected public
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track.h"
+
 namespace apollo {
 namespace perception {
 

modules/planning/lattice/behavior/BUILD

@@ -11,6 +11,7 @@ cc_library(
         "feasible_region.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/common/proto:pnc_point_proto",
         "//modules/planning/common:planning_gflags",
     ],
@@ -26,6 +27,7 @@ cc_library(
     ],
     deps = [
         "//modules/common",
+        "//modules/common:log",
         "//modules/common/math:linear_interpolation",
         "//modules/common/math:path_matcher",
         "//modules/common/proto:pnc_point_proto",
@@ -34,7 +36,6 @@ cc_library(
         "//modules/planning/common:planning_gflags",
         "//modules/planning/proto:lattice_structure_proto",
         "//modules/planning/reference_line",
-        "@glog",
     ],
 )
 

modules/planning/lattice/behavior/feasible_region.cc

@@ -22,7 +22,7 @@
 
 #include <cmath>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {

modules/planning/lattice/trajectory1d/BUILD

@@ -70,6 +70,7 @@ cc_library(
         "lattice_trajectory1d.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/planning/math/curve1d",
     ],
 )
@@ -84,8 +85,8 @@ cc_library(
     ],
     deps = [
         "//modules/common",
-        "//modules/planning/math/curve1d",
         "//modules/planning/common:planning_gflags",
+        "//modules/planning/math/curve1d",
     ],
 )
 

modules/planning/lattice/trajectory1d/lattice_trajectory1d.cc

@@ -20,7 +20,7 @@
 
 #include "modules/planning/lattice/trajectory1d/lattice_trajectory1d.h"
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {

modules/planning/lattice/trajectory1d/piecewise_trajectory1d.cc

@@ -24,8 +24,6 @@
 
 #include "modules/common/log.h"
 
-#include "glog/logging.h"
-
 namespace apollo {
 namespace planning {
 

modules/planning/lattice/trajectory1d/standing_still_trajectory1d.cc

@@ -20,8 +20,6 @@
 
 #include "modules/planning/lattice/trajectory1d/standing_still_trajectory1d.h"
 
-#include "glog/logging.h"
-
 namespace apollo {
 namespace planning {
 

modules/planning/lattice/trajectory_generation/piecewise_braking_trajectory_generator.cc

@@ -22,7 +22,7 @@
 
 #include <cmath>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 
 namespace apollo {
 namespace planning {
@@ -31,7 +31,6 @@ std::shared_ptr<Curve1d> PiecewiseBrakingTrajectoryGenerator::Generate(
     const double s_target, const double s_curr, const double v_target,
     const double v_curr, const double a_comfort, const double d_comfort,
     const double max_time) {
-
   std::shared_ptr<PiecewiseAccelerationTrajectory1d> ptr_trajectory =
       std::make_shared<PiecewiseAccelerationTrajectory1d>(s_curr, v_curr);
 
@@ -47,7 +46,7 @@ std::shared_ptr<Curve1d> PiecewiseBrakingTrajectoryGenerator::Generate(
 
     if (ptr_trajectory->ParamLength() < max_time) {
       ptr_trajectory->AppendSegment(0.0,
-          max_time - ptr_trajectory->ParamLength());
+                                    max_time - ptr_trajectory->ParamLength());
     }
     return ptr_trajectory;
   }
@@ -64,7 +63,7 @@ std::shared_ptr<Curve1d> PiecewiseBrakingTrajectoryGenerator::Generate(
 
     if (ptr_trajectory->ParamLength() < max_time) {
       ptr_trajectory->AppendSegment(0.0,
-          max_time - ptr_trajectory->ParamLength());
+                                    max_time - ptr_trajectory->ParamLength());
     }
     return ptr_trajectory;
 
@@ -85,15 +84,14 @@ std::shared_ptr<Curve1d> PiecewiseBrakingTrajectoryGenerator::Generate(
 
       if (ptr_trajectory->ParamLength() < max_time) {
         ptr_trajectory->AppendSegment(0.0,
-            max_time - ptr_trajectory->ParamLength());
+                                      max_time - ptr_trajectory->ParamLength());
       }
       return ptr_trajectory;
     } else {
       double s_rampup_rampdown = s_dist - comfort_stop_dist;
-      double v_max = std::sqrt(
-          v_curr * v_curr
-              + 2.0 * a_comfort * d_comfort * s_rampup_rampdown
-                  / (a_comfort + d_comfort));
+      double v_max = std::sqrt(v_curr * v_curr +
+                               2.0 * a_comfort * d_comfort * s_rampup_rampdown /
+                                   (a_comfort + d_comfort));
 
       double t_acc = (v_max - v_curr) / a_comfort;
       double t_dec = v_max / d_comfort;
@@ -104,15 +102,15 @@ std::shared_ptr<Curve1d> PiecewiseBrakingTrajectoryGenerator::Generate(
 
       if (ptr_trajectory->ParamLength() < max_time) {
         ptr_trajectory->AppendSegment(0.0,
-            max_time - ptr_trajectory->ParamLength());
+                                      max_time - ptr_trajectory->ParamLength());
       }
       return ptr_trajectory;
     }
   }
 }
 
-double PiecewiseBrakingTrajectoryGenerator::ComputeStopDistance(const double v,
-    const double dec) {
+double PiecewiseBrakingTrajectoryGenerator::ComputeStopDistance(
+    const double v, const double dec) {
   CHECK(dec > 0.0);
   return v * v / dec * 0.5;
 }

modules/planning/math/curve1d/quintic_spiral_path.cc

@@ -20,8 +20,6 @@
 
 #include "modules/planning/math/curve1d/quintic_spiral_path.h"
 
-#include "glog/logging.h"
-
 namespace apollo {
 namespace planning {
 
@@ -168,24 +166,22 @@ double QuinticSpiralPath::DeriveTheta(const std::size_t param_index,
   return derivative;
 }
 
-double QuinticSpiralPath::DeriveKappaDerivative(
-    const std::size_t param_index, const double r) const {
+double QuinticSpiralPath::DeriveKappaDerivative(const std::size_t param_index,
+                                                const double r) const {
   double s = param_ * r;
   double s2 = s * s;
   double s3 = s2 * s;
   double s4 = s2 * s2;
 
-  double derivative =
-      5.0 * coef_deriv_[5][param_index] * s4 +
-      4.0 * coef_deriv_[4][param_index] * s3 +
-      3.0 * coef_deriv_[3][param_index] * s2 +
-      2.0 * coef_deriv_[2][param_index] * s +
-      coef_deriv_[1][param_index];
+  double derivative = 5.0 * coef_deriv_[5][param_index] * s4 +
+                      4.0 * coef_deriv_[4][param_index] * s3 +
+                      3.0 * coef_deriv_[3][param_index] * s2 +
+                      2.0 * coef_deriv_[2][param_index] * s +
+                      coef_deriv_[1][param_index];
 
   if (param_index == DELTA_S) {
     derivative += 5.0 * coef_[5] * 4.0 * s3 * r +
-                  4.0 * coef_[4] * 3.0 * s2 * r +
-                  3.0 * coef_[3] * 2.0 * s * r +
+                  4.0 * coef_[4] * 3.0 * s2 * r + 3.0 * coef_[3] * 2.0 * s * r +
                   2.0 * coef_[2] * r;
   }
   return derivative;
@@ -210,7 +206,7 @@ double QuinticSpiralPath::DeriveDKappaDerivative(const std::size_t param_index,
 }
 
 double QuinticSpiralPath::DeriveD2KappaDerivative(const std::size_t param_index,
-                                                 const double r) const {
+                                                  const double r) const {
   double s = param_ * r;
   double s2 = s * s;
 
@@ -219,8 +215,7 @@ double QuinticSpiralPath::DeriveD2KappaDerivative(const std::size_t param_index,
                       6.0 * coef_deriv_[3][param_index];
 
   if (param_index == DELTA_S) {
-    derivative += 60.0 * coef_[5] * 2.0 * s * r +
-                  24.0 * coef_[4] * r;
+    derivative += 60.0 * coef_[5] * 2.0 * s * r + 24.0 * coef_[4] * r;
   }
   return derivative;
 }

modules/planning/math/curve1d/quintic_spiral_path.h

@@ -24,7 +24,7 @@
 #include <cmath>
 #include <utility>
 
-#include "glog/logging.h"
+#include "modules/common/log.h"
 #include "modules/common/math/angle.h"
 #include "modules/common/math/integral.h"
 #include "modules/planning/math/curve1d/quintic_polynomial_curve1d.h"

modules/planning/math/smoothing_spline/spline_1d_constraint_test.cc

@@ -19,7 +19,6 @@
  **/
 #include "modules/planning/math/smoothing_spline/spline_1d_constraint.h"
 
-#include "glog/logging.h"
 #include "gtest/gtest.h"
 
 namespace apollo {

modules/planning/math/smoothing_spline/spline_1d_generator_test.cc

@@ -19,7 +19,6 @@
  **/
 #include "modules/planning/math/smoothing_spline/spline_1d_generator.h"
 
-#include "glog/logging.h"
 #include "gtest/gtest.h"
 
 namespace apollo {

modules/planning/math/smoothing_spline/spline_1d_kernel_test.cc

@@ -19,7 +19,6 @@
  **/
 #include "modules/planning/math/smoothing_spline/spline_1d_kernel.h"
 
-#include "glog/logging.h"
 #include "gtest/gtest.h"
 
 namespace apollo {

modules/planning/math/smoothing_spline/spline_2d_constraint_test.cc

@@ -19,7 +19,6 @@
  **/
 #include "modules/planning/math/smoothing_spline/spline_2d_constraint.h"
 
-#include "glog/logging.h"
 #include "gtest/gtest.h"
 
 namespace apollo {

modules/planning/math/smoothing_spline/spline_2d_kernel_test.cc

@@ -19,9 +19,10 @@
  **/
 #include "modules/planning/math/smoothing_spline/spline_2d_kernel.h"
 
-#include "glog/logging.h"
 #include "gtest/gtest.h"
 
+#include "modules/common/log.h"
+
 namespace apollo {
 namespace planning {
 

modules/planning/navi/decider/BUILD

@@ -11,6 +11,7 @@ cc_library(
         "navi_path_decider.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/math",
         "//modules/common/status",
@@ -18,11 +19,10 @@ cc_library(
         "//modules/planning/common:frame",
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common:reference_line_info",
+        "//modules/planning/navi/decider:navi_obstacle_decider",
         "//modules/planning/proto:planning_config_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/toolkits/optimizers:task",
-        "//modules/planning/navi/decider:navi_obstacle_decider",
-        "@glog",
     ],
 )
 
@@ -37,6 +37,7 @@ cc_library(
         "navi_speed_ts_graph.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/math",
         "//modules/common/status",
@@ -48,7 +49,6 @@ cc_library(
         "//modules/planning/proto:planning_config_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/toolkits/optimizers:task",
-        "@glog",
     ],
 )
 
@@ -61,8 +61,10 @@ cc_library(
         "navi_obstacle_decider.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/math",
+        "//modules/common/math:path_matcher",
         "//modules/common/status",
         "//modules/map/proto:map_proto",
         "//modules/planning/common:frame",
@@ -71,8 +73,6 @@ cc_library(
         "//modules/planning/proto:planning_config_proto",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/toolkits/optimizers:task",
-        "//modules/common/math:path_matcher",
-        "@glog",
     ],
 )
 
@@ -80,17 +80,16 @@ cc_test(
     name = "navi_decider_test",
     size = "small",
     srcs = [
+        "navi_obstacle_decider_test.cc",
         "navi_path_decider_test.cc",
         "navi_speed_decider_test.cc",
         "navi_speed_ts_graph_test.cc",
-        "navi_obstacle_decider_test.cc",
     ],
     data = ["//modules/planning:planning_testdata"],
     deps = [
+        ":navi_obstacle_decider",
         ":navi_path_decider",
         ":navi_speed_decider",
-        ":navi_obstacle_decider",
-        "//modules/common:log",
         "//modules/common/time",
         "//modules/common/util",
         "@gtest//:main",

modules/planning/navi/decider/navi_obstacle_decider.cc

@@ -30,8 +30,7 @@
 #include <utility>
 #include <vector>
 
-#include "glog/logging.h"
-
+#include "modules/common/log.h"
 #include "modules/common/math/line_segment2d.h"
 #include "modules/common/math/linear_interpolation.h"
 #include "modules/common/math/path_matcher.h"

modules/planning/navi/decider/navi_path_decider.cc

@@ -25,8 +25,8 @@
 #include <limits>
 #include <utility>
 
-#include "glog/logging.h"
 #include "modules/common/configs/vehicle_config_helper.h"
+#include "modules/common/log.h"
 #include "modules/common/math/vec2d.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/proto/sl_boundary.pb.h"

modules/planning/navi/decider/navi_speed_decider.cc

@@ -25,9 +25,8 @@
 #include <cmath>
 #include <limits>
 
-#include "glog/logging.h"
-
 #include "modules/common/configs/vehicle_config_helper.h"
+#include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/planning/common/planning_gflags.h"
 

modules/planning/navi/decider/navi_speed_ts_graph.cc

@@ -24,8 +24,6 @@
 #include <algorithm>
 #include <cmath>
 
-#include "glog/logging.h"
-
 #include "modules/common/log.h"
 #include "modules/common/math/math_utils.h"