Planning: cleaned up unused 'using' and removed function to directly get vehicle_pose in frame.

modules/planning/common/frame.cc

@@ -53,8 +53,6 @@ void Frame::SetVehicleInitPose(const localization::Pose &pose) {
   init_pose_ = pose;
 }
 
-const localization::Pose &Frame::VehicleInitPose() const { return init_pose_; }
-
 void Frame::SetRoutingResponse(const routing::RoutingResponse &routing) {
   routing_response_ = routing;
 }

modules/planning/common/frame.h

@@ -70,7 +70,6 @@ class Frame {
   ADCTrajectory *MutableADCTrajectory();
 
   const PublishableTrajectory &computed_trajectory() const;
-  const localization::Pose &VehicleInitPose() const;
 
   const routing::RoutingResponse &routing_response() const;
 

modules/planning/planner/em/decider.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 
 /**
- * @file decider.cpp
+ * @file
  **/
 
 #include <limits>

modules/planning/planner/em/em_planner.cc

@@ -48,7 +48,6 @@ using common::ErrorCode;
 using common::SpeedPoint;
 using common::SLPoint;
 using common::TrajectoryPoint;
-using common::VehicleState;
 using common::math::Vec2d;
 
 void EMPlanner::RegisterTasks() {

modules/planning/reference_line/reference_line.cc

@@ -96,13 +96,12 @@ ReferencePoint ReferenceLine::GetReferencePoint(const double s) const {
   if (it_lower == accumulated_s.begin()) {
     return reference_points_.front();
   } else {
-    std::uint32_t index =
-        static_cast<std::uint32_t>(it_lower - accumulated_s.begin());
-    auto p0 = reference_points_[index - 1];
-    auto p1 = reference_points_[index];
+    auto index = std::distance(accumulated_s.begin(), it_lower);
+    const auto& p0 = reference_points_[index - 1];
+    const auto& p1 = reference_points_[index];
 
-    auto s0 = accumulated_s[index - 1];
-    auto s1 = accumulated_s[index];
+    const double s0 = accumulated_s[index - 1];
+    const double s1 = accumulated_s[index];
 
     return Interpolate(p0, s0, p1, s1, s);
   }

modules/planning/tasks/traffic_decider/traffic_decider.cc

@@ -21,14 +21,12 @@
 #include "modules/planning/tasks/traffic_decider/traffic_decider.h"
 
 #include "modules/common/configs/vehicle_config_helper.h"
-#include "modules/common/vehicle_state/vehicle_state.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/tasks/traffic_decider/back_side_vehicles.h"
 
 namespace apollo {
 namespace planning {
 using ::apollo::common::Status;
-using ::apollo::common::VehicleState;
 using ::apollo::common::VehicleConfigHelper;
 
 TrafficDecider::TrafficDecider() : Task("TrafficDecider") {}

modules/planning/trajectory_stitcher/trajectory_stitcher.cc

@@ -96,7 +96,7 @@ TrajectoryStitcher::ComputeStitchingTrajectory(
   }
 
   auto matched_point = prev_trajectory.TrajectoryPointAt(matched_index);
-  double position_diff =
+  const double position_diff =
       common::math::Vec2d(
           matched_point.path_point().x() - VehicleState::instance()->x(),
           matched_point.path_point().y() - VehicleState::instance()->y())