Prediction: Simplify Predictor::GenerateTrajectory interface.

modules/prediction/prediction.cc

@@ -95,8 +95,7 @@ void Prediction::OnLocalization(const LocalizationEstimate &localization) {
   CHECK_NOTNULL(obstacles_container);
 
   PoseContainer* pose_container = dynamic_cast<PoseContainer*>(
-      ContainerManager::instance()->GetContainer(
-      AdapterConfig::LOCALIZATION));
+      ContainerManager::instance()->GetContainer(AdapterConfig::LOCALIZATION));
   CHECK_NOTNULL(pose_container);
 
   pose_container->Insert(localization);
@@ -122,9 +121,8 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
   EvaluatorManager::instance()->Run(perception_obstacles);
   PredictorManager::instance()->Run(perception_obstacles);
 
-  PredictionObstacles prediction_obstacles;
-  prediction_obstacles.CopyFrom(
-      PredictorManager::instance()->prediction_obstacles());
+  auto prediction_obstacles =
+      PredictorManager::instance()->prediction_obstacles();
   AdapterManager::FillPredictionHeader(Name(), &prediction_obstacles);
   AdapterManager::PublishPrediction(prediction_obstacles);
   ADEBUG << "Published a prediction message ["

modules/prediction/predictor/pedestrian/regional_predictor.cc

@@ -114,8 +114,7 @@ void RegionalPredictor::GenerateStillTrajectory(
   for (int i = 0; i < num_traj; ++i) {
     std::vector<TrajectoryPoint> points;
     DrawStillTrajectory(position, heading, speed, total_time, &points);
-    Trajectory trajectory;
-    GenerateTrajectory(points, &trajectory);
+    Trajectory trajectory = GenerateTrajectory(points);
     trajectories_.push_back(std::move(trajectory));
     heading += delta_heading;
   }
@@ -160,10 +159,8 @@ void RegionalPredictor::GenerateMovingTrajectory(
                        &left_points, &right_points);
   int start_index = NumOfTrajectories();
 
-  Trajectory left_trajectory;
-  Trajectory right_trajectory;
-  GenerateTrajectory(left_points, &left_trajectory);
-  GenerateTrajectory(right_points, &right_trajectory);
+  Trajectory left_trajectory = GenerateTrajectory(left_points);
+  Trajectory right_trajectory = GenerateTrajectory(right_points);
   trajectories_.push_back(std::move(left_trajectory));
   trajectories_.push_back(std::move(right_trajectory));
   SetEqualProbability(probability, start_index);

modules/prediction/predictor/predictor.cc

@@ -29,11 +29,11 @@ int Predictor::NumOfTrajectories() {
   return trajectories_.size();
 }
 
-void Predictor::GenerateTrajectory(
-    const std::vector<::apollo::common::TrajectoryPoint>& points,
-    Trajectory* trajectory) {
-  trajectory->mutable_trajectory_point()->MergeFrom(
-      {points.begin(), points.end()});
+Trajectory Predictor::GenerateTrajectory(
+    const std::vector<apollo::common::TrajectoryPoint>& points) {
+  Trajectory trajectory;
+  *trajectory.mutable_trajectory_point() = {points.begin(), points.end()};
+  return trajectory;
 }
 
 void Predictor::SetEqualProbability(double probability, int start_index) {

modules/prediction/predictor/predictor.h

@@ -69,11 +69,10 @@ class Predictor {
   /**
    * @brief Generate trajectory from trajectory points
    * @param A vector of trajectory points
-   *        A pointer to generated trajectory
+   * @return Generated trajectory
    */
-  void GenerateTrajectory(
-      const std::vector<::apollo::common::TrajectoryPoint>& points,
-      Trajectory* trajectory);
+  static Trajectory GenerateTrajectory(
+      const std::vector<apollo::common::TrajectoryPoint>& points);
 
   void SetEqualProbability(double probability, int start_index);
 

modules/prediction/predictor/vehicle/free_move_predictor.cc

@@ -66,8 +66,7 @@ void FreeMovePredictor::Predict(Obstacle* obstacle) {
                                FLAGS_prediction_freq,
                                &points);
 
-  Trajectory trajectory;
-  GenerateTrajectory(points, &trajectory);
+  Trajectory trajectory = GenerateTrajectory(points);
   int start_index = 0;
   trajectories_.push_back(std::move(trajectory));
   SetEqualProbability(1.0, start_index);

modules/prediction/predictor/vehicle/lane_sequence_predictor.cc

@@ -94,8 +94,7 @@ void LaneSequencePredictor::Predict(Obstacle* obstacle) {
         obstacle->kf_lane_tracker(curr_lane_id), sequence,
         FLAGS_prediction_duration, FLAGS_prediction_freq, &points);
 
-    Trajectory trajectory;
-    GenerateTrajectory(points, &trajectory);
+    Trajectory trajectory = GenerateTrajectory(points);
     trajectory.set_probability(sequence.probability());
     trajectories_.push_back(std::move(trajectory));
   }