get rid of #define private public

modules/perception/lib/base/BUILD

@@ -22,6 +22,7 @@ cc_library(
     deps = [
         "//modules/common",
         "//modules/common:log",
+        "@gtest//:gtest",
     ],
 )
 

modules/perception/lib/base/registerer.h

@@ -57,6 +57,8 @@
 #include <string>
 #include <vector>
 
+#include "gtest/gtest_prod.h"
+
 #include "modules/common/log.h"
 #include "modules/common/macro.h"
 
@@ -105,6 +107,8 @@ class Any {
   };
 
   PlaceHolder *content_;
+
+  FRIEND_TEST(ObjectFactoryTest, test_ObjectFactory);
 };
 
 class ObjectFactory {

modules/perception/lib/base/registerer_test.cc

@@ -16,7 +16,6 @@
 
 #include "gtest/gtest.h"
 
-#define private public
 #include "modules/perception/lib/base/registerer.h"
 
 namespace apollo {

modules/perception/obstacle/onboard/BUILD

@@ -15,6 +15,7 @@ cc_library(
         "//modules/perception/lib/pcl_util",
         "//modules/perception/obstacle/base:perception_obstacle_base",
         "@eigen//:eigen",
+        "@gtest//:gtest",
     ],
 )
 
@@ -38,6 +39,7 @@ cc_library(
         "//modules/perception/obstacle/lidar/segmentation/cnnseg:perception_obstacle_lidar_segmention_cnnseg",
         "//modules/perception/obstacle/lidar/tracker/hm_tracker:perception_obstacle_lidar_tracker_hm_tracker",
         "@eigen//:eigen",
+        "@gtest//:gtest",
         "@ros//:ros_common",
     ],
 )

modules/perception/obstacle/onboard/hdmap_input.h

@@ -18,6 +18,9 @@
 #define MODULES_PERCEPTION_ONBOARD_HDMAP_INPUT_H_
 
 #include <mutex>
+
+#include "gtest/gtest_prod.h"
+
 #include "modules/common/macro.h"
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/perception/lib/base/singleton.h"
@@ -56,6 +59,9 @@ class HDMapInput {
   std::unique_ptr<apollo::hdmap::HDMap> hdmap_;
 
   DISALLOW_COPY_AND_ASSIGN(HDMapInput);
+
+  FRIEND_TEST(HDMapInputTest, test_Init);
+  FRIEND_TEST(HDMapInputTest, test_GetROI);
 };
 
 typedef typename std::shared_ptr<HDMapInput> HDMapInputPtr;

modules/perception/obstacle/onboard/hdmap_input_test.cc

@@ -19,7 +19,6 @@
 #include "modules/common/log.h"
 #include "modules/perception/common/perception_gflags.h"
 
-#define private public
 #include "modules/perception/obstacle/onboard/hdmap_input.h"
 
 namespace apollo {
@@ -36,7 +35,6 @@ class HDMapInputTest : public testing::Test {
     ASSERT_TRUE(hdmap_input_ != NULL);
   }
 
- private:
   HDMapInput* hdmap_input_;
 };
 

modules/perception/obstacle/onboard/lidar_process.h

@@ -18,6 +18,8 @@
 #define MODEULES_PERCEPTION_OBSTACLE_ONBOARD_LIDAR_PROCESS_H_
 
 #include "Eigen/Core"
+#include "gtest/gtest_prod.h"
+
 #include "modules/perception/lib/pcl_util/pcl_types.h"
 #include "modules/perception/obstacle/base/object.h"
 #include "modules/perception/obstacle/lidar/interface/base_object_builder.h"
@@ -75,6 +77,10 @@ class LidarProcess {
   std::unique_ptr<BaseObjectBuilder> object_builder_;
   std::unique_ptr<BaseTracker> tracker_;
   pcl_util::PointIndicesPtr roi_indices_;
+
+  FRIEND_TEST(LidarProcessTest, test_Init);
+  FRIEND_TEST(LidarProcessTest, test_Process);
+  FRIEND_TEST(LidarProcessTest, test_GeneratePbMsg);
 };
 
 }  // namespace perception

modules/perception/obstacle/onboard/lidar_process_test.cc

@@ -21,8 +21,6 @@
 #include "modules/perception/common/perception_gflags.h"
 #include "modules/perception/lib/pcl_util/pcl_types.h"
 #include "modules/perception/obstacle/lidar/dummy/dummy_algorithms.h"
-
-#define private public
 #include "modules/perception/obstacle/onboard/lidar_process.h"
 
 namespace apollo {
@@ -38,11 +36,7 @@ class LidarProcessTest : public testing::Test {
  protected:
   LidarProcessTest() {}
   virtual ~LidarProcessTest() {}
-  virtual void SetUp() {
-    lidar_process_.RegistAllAlgorithm();
-  }
 
- private:
   LidarProcess lidar_process_;
 };
 

modules/tools/map_tool/map_xysl.cc

@@ -19,7 +19,6 @@
 #include <fstream>
 #include "gflags/gflags.h"
 
-#define private public
 #include "modules/map/proto/map_geometry.pb.h"
 #include "modules/common/log.h"
 #include "modules/map/hdmap/hdmap_common.h"