migrate Point in map to pointENU

modules/dreamview/backend/map/map_service.cc

@@ -21,7 +21,7 @@
 namespace apollo {
 namespace dreamview {
 
-using ::apollo::hdmap::Point;
+using ::apollo::common::PointENU;
 using ::apollo::hdmap::Map;
 using ::apollo::hdmap::Id;
 using ::apollo::hdmap::LaneInfoConstPtr;
@@ -124,7 +124,7 @@ MapService::MapService(const std::string &map_filename) {
   AINFO << "HDMap loaded, Map: " << map_filename;
 }
 
-MapElementIds MapService::CollectMapElements(const Point &point,
+MapElementIds MapService::CollectMapElements(const PointENU &point,
                                              double radius) const {
   MapElementIds result;
 

modules/dreamview/backend/map/map_service.h

@@ -62,7 +62,7 @@ struct MapElementIds {
 class MapService {
  public:
   explicit MapService(const std::string &map_filename);
-  MapElementIds CollectMapElements(const apollo::hdmap::Point &point,
+  MapElementIds CollectMapElements(const apollo::common::PointENU &point,
                                    double raidus) const;
 
   // The returned value is of a ::apollo::hdmap::Map proto. This

modules/dreamview/backend/map/map_service_test.cc

@@ -21,7 +21,7 @@
 
 using ::apollo::hdmap::Id;
 using ::apollo::hdmap::Map;
-using ::apollo::hdmap::Point;
+using ::apollo::common::PointENU;
 using ::testing::UnorderedElementsAre;
 
 namespace apollo {
@@ -73,7 +73,9 @@ TEST_F(MapServiceTest, LoadMap) {
 }
 
 TEST_F(MapServiceTest, CollectMapElements) {
-  Point p;
+  PointENU p;
+  p.set_x(0.0);
+  p.set_y(0.0);
   MapElementIds map_element_ids = map_service.CollectMapElements(p, 20000.0);
 
   EXPECT_THAT(map_element_ids.lane, UnorderedElementsAre("l1"));

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -297,7 +297,7 @@ Json SimulationWorldService::GetUpdateAsJson() const {
   ::google::protobuf::util::MessageToJsonString(world_, &sim_world_json);
 
   // Gather required map element ids based on current location.
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(world_.auto_driving_car().position_x());
   point.set_y(world_.auto_driving_car().position_y());
 

modules/map/hdmap/adapter/xml_parser/common_define.h

@@ -39,7 +39,7 @@ typedef ::apollo::hdmap::ClearArea     PbClearArea;
 typedef ::apollo::hdmap::LineSegment   PbLineSegment;
 typedef ::apollo::hdmap::CurveSegment  PbCurveSegment;
 typedef ::apollo::hdmap::Curve         PbCurve;
-typedef ::apollo::hdmap::Point         PbPoint3D;
+typedef ::apollo::common::PointENU         PbPoint3D;
 typedef ::apollo::hdmap::Lane_LaneType PbLaneType;
 typedef ::apollo::hdmap::Lane_LaneTurn PbTurnType;
 typedef ::apollo::hdmap::Id            PbID;

modules/map/hdmap/hdmap.cc

@@ -58,55 +58,55 @@ RoadInfoConstPtr HDMap::get_road_by_id(const apollo::hdmap::Id& id) const {
     return _impl.get_road_by_id(id);
 }
 
-int HDMap::get_lanes(const apollo::hdmap::Point& point,
+int HDMap::get_lanes(const apollo::common::PointENU& point,
                      double distance,
                      std::vector<LaneInfoConstPtr>* lanes) const {
     return _impl.get_lanes(point, distance, lanes);
 }
 
-int HDMap::get_junctions(const apollo::hdmap::Point& point,
+int HDMap::get_junctions(const apollo::common::PointENU& point,
                          double distance,
                          std::vector<JunctionInfoConstPtr>* junctions) const {
     return _impl.get_junctions(point, distance, junctions);
 }
 
-int HDMap::get_signals(const apollo::hdmap::Point& point,
+int HDMap::get_signals(const apollo::common::PointENU& point,
                        double distance,
                        std::vector<SignalInfoConstPtr>* signals) const {
     return _impl.get_signals(point, distance, signals);
 }
 
-int HDMap::get_crosswalks(const apollo::hdmap::Point& point,
+int HDMap::get_crosswalks(const apollo::common::PointENU& point,
                         double distance,
                         std::vector<CrosswalkInfoConstPtr>* crosswalks) const {
     return _impl.get_crosswalks(point, distance, crosswalks);
 }
 
-int HDMap::get_stop_signs(const apollo::hdmap::Point& point,
+int HDMap::get_stop_signs(const apollo::common::PointENU& point,
                           double distance,
                           std::vector<StopSignInfoConstPtr>* stop_signs) const {
     return _impl.get_stop_signs(point, distance, stop_signs);
 }
 
-int HDMap::get_yield_signs(const apollo::hdmap::Point& point,
+int HDMap::get_yield_signs(const apollo::common::PointENU& point,
                         double distance,
                         std::vector<YieldSignInfoConstPtr>* yield_signs) const {
   return _impl.get_yield_signs(point, distance, yield_signs);
 }
 
-int HDMap::get_roads(const apollo::hdmap::Point& point, double distance,
+int HDMap::get_roads(const apollo::common::PointENU& point, double distance,
                                 std::vector<RoadInfoConstPtr>* roads) const {
   return _impl.get_roads(point, distance, roads);
 }
 
-int HDMap::get_nearest_lane(const ::apollo::hdmap::Point& point,
+int HDMap::get_nearest_lane(const ::apollo::common::PointENU& point,
                 LaneInfoConstPtr* nearest_lane,
                 double* nearest_s,
                 double* nearest_l) const {
   return _impl.get_nearest_lane(point, nearest_lane, nearest_s, nearest_l);
 }
 
-int HDMap::get_nearest_lane_with_heading(const apollo::hdmap::Point& point,
+int HDMap::get_nearest_lane_with_heading(const apollo::common::PointENU& point,
                                 const double distance,
                                 const double central_heading,
                                 const double max_heading_difference,
@@ -118,7 +118,7 @@ int HDMap::get_nearest_lane_with_heading(const apollo::hdmap::Point& point,
                         nearest_s, nearest_l);
 }
 
-int HDMap::get_lanes_with_heading(const apollo::hdmap::Point& point,
+int HDMap::get_lanes_with_heading(const apollo::common::PointENU& point,
                             const double distance,
                             const double central_heading,
                             const double max_heading_difference,
@@ -127,7 +127,7 @@ int HDMap::get_lanes_with_heading(const apollo::hdmap::Point& point,
                             max_heading_difference, lanes);
 }
 
-int HDMap::get_road_boundaries(const apollo::hdmap::Point& point,
+int HDMap::get_road_boundaries(const apollo::common::PointENU& point,
                           double radius,
                           std::vector<RoadROIBoundaryPtr>* road_boundaries,
                           std::vector<JunctionBoundaryPtr>* junctions) const {

modules/map/hdmap/hdmap.h

@@ -50,37 +50,37 @@ class HDMap {
   OverlapInfoConstPtr get_overlap_by_id(const apollo::hdmap::Id& id) const;
   RoadInfoConstPtr get_road_by_id(const apollo::hdmap::Id& id) const;
 
-  int get_lanes(const apollo::hdmap::Point& point, double distance,
+  int get_lanes(const apollo::common::PointENU& point, double distance,
                 std::vector<LaneInfoConstPtr>* lanes) const;
-  int get_junctions(const apollo::hdmap::Point& point, double distance,
+  int get_junctions(const apollo::common::PointENU& point, double distance,
                     std::vector<JunctionInfoConstPtr>* junctions) const;
-  int get_signals(const apollo::hdmap::Point& point, double distance,
+  int get_signals(const apollo::common::PointENU& point, double distance,
                   std::vector<SignalInfoConstPtr>* signals) const;
-  int get_crosswalks(const apollo::hdmap::Point& point, double distance,
+  int get_crosswalks(const apollo::common::PointENU& point, double distance,
                      std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
-  int get_stop_signs(const apollo::hdmap::Point& point, double distance,
+  int get_stop_signs(const apollo::common::PointENU& point, double distance,
                      std::vector<StopSignInfoConstPtr>* stop_signs) const;
-  int get_yield_signs(const apollo::hdmap::Point& point, double distance,
+  int get_yield_signs(const apollo::common::PointENU& point, double distance,
                       std::vector<YieldSignInfoConstPtr>* yield_signs) const;
-  int get_roads(const apollo::hdmap::Point& point, double distance,
+  int get_roads(const apollo::common::PointENU& point, double distance,
                       std::vector<RoadInfoConstPtr>* roads) const;
 
-  int get_nearest_lane(const apollo::hdmap::Point& point,
+  int get_nearest_lane(const apollo::common::PointENU& point,
                        LaneInfoConstPtr* nearest_lane, double* nearest_s,
                        double* nearest_l) const;
-  int get_nearest_lane_with_heading(const apollo::hdmap::Point& point,
+  int get_nearest_lane_with_heading(const apollo::common::PointENU& point,
                                   const double distance,
                                   const double central_heading,
                                   const double max_heading_difference,
                                   LaneInfoConstPtr* nearest_lane,
                                   double* nearest_s,
                                   double* nearest_l) const;
-  int get_lanes_with_heading(const apollo::hdmap::Point& point,
+  int get_lanes_with_heading(const apollo::common::PointENU& point,
                             const double distance,
                             const double central_heading,
                             const double max_heading_difference,
                             std::vector<LaneInfoConstPtr>* lanes) const;
-  int get_road_boundaries(const apollo::hdmap::Point& point,
+  int get_road_boundaries(const apollo::common::PointENU& point,
                           double radius,
                           std::vector<RoadROIBoundaryPtr>* road_boundaries,
                           std::vector<JunctionBoundaryPtr>* junctions) const;

modules/map/hdmap/hdmap_common.cc

@@ -83,15 +83,15 @@ void segments_from_curve(
   }
 }
 
-apollo::hdmap::Point point_from_vec2d(
+apollo::common::PointENU point_from_vec2d(
     const apollo::common::math::Vec2d &point) {
-  apollo::hdmap::Point pt;
+  apollo::common::PointENU pt;
   pt.set_x(point.x());
   pt.set_y(point.y());
   return pt;
 }
 apollo::common::math::Vec2d vec2d_from_point(
-    const apollo::hdmap::Point &point) {
+    const apollo::common::PointENU &point) {
   return apollo::common::math::Vec2d(point.x(), point.y());
   ;
 }
@@ -220,7 +220,7 @@ bool LaneInfo::is_on_lane(const apollo::common::math::Box2d &box) const {
   return true;
 }
 
-apollo::hdmap::Point LaneInfo::get_smooth_point(double s) const {
+apollo::common::PointENU LaneInfo::get_smooth_point(double s) const {
   CHECK_GE(_points.size(), 2);
   if (s <= 0.0) {
     return point_from_vec2d(_points[0]);
@@ -261,7 +261,7 @@ double LaneInfo::distance_to(const apollo::common::math::Vec2d &point,
   return distance;
 }
 
-apollo::hdmap::Point LaneInfo::get_nearest_point(
+apollo::common::PointENU LaneInfo::get_nearest_point(
     const apollo::common::math::Vec2d &point, double *distance) const {
   const auto segment_box = _lane_segment_kdtree->GetNearestObject(point);
   int index = segment_box->id();

modules/map/hdmap/hdmap_common.h

@@ -131,12 +131,12 @@ class LaneInfo {
   bool is_on_lane(const apollo::common::math::Vec2d &point) const;
   bool is_on_lane(const apollo::common::math::Box2d &box) const;
 
-  apollo::hdmap::Point get_smooth_point(double s) const;
+  apollo::common::PointENU get_smooth_point(double s) const;
   double distance_to(const apollo::common::math::Vec2d &point) const;
   double distance_to(const apollo::common::math::Vec2d &point,
                      apollo::common::math::Vec2d *map_point, double *s_offset,
                      int *s_offset_index) const;
-  apollo::hdmap::Point get_nearest_point(
+  apollo::common::PointENU get_nearest_point(
       const apollo::common::math::Vec2d &point, double *distance) const;
   bool get_projection(const apollo::common::math::Vec2d &point,
                       double *accumulate_s, double *lateral) const;

modules/map/hdmap/hdmap_common_test.cc

@@ -45,7 +45,7 @@ void HDMapCommonTestSuite::init_lane_obj(apollo::hdmap::Lane* lane) {
       lane->mutable_central_curve()->add_segment();
   apollo::hdmap::LineSegment* line_segment =
       curve_segment->mutable_line_segment();
-  apollo::hdmap::Point* pt = line_segment->add_point();
+  apollo::common::PointENU* pt = line_segment->add_point();
   pt->set_x(1.0);
   pt->set_y(1.0);
   pt = line_segment->add_point();
@@ -97,7 +97,7 @@ void HDMapCommonTestSuite::init_junction_obj(
     apollo::hdmap::Junction* junction) {
   junction->mutable_id()->set_id("junction_1");
   apollo::hdmap::Polygon* polygon = junction->mutable_polygon();
-  apollo::hdmap::Point* pt = polygon->add_point();
+  apollo::common::PointENU* pt = polygon->add_point();
   pt->set_x(1.0);
   pt->set_y(1.0);
   pt = polygon->add_point();
@@ -129,7 +129,7 @@ void HDMapCommonTestSuite::init_junction_obj(
 void HDMapCommonTestSuite::init_signal_obj(apollo::hdmap::Signal* signal) {
   signal->mutable_id()->set_id("signal_1");
   apollo::hdmap::Polygon* polygon = signal->mutable_boundary();
-  apollo::hdmap::Point* pt = polygon->add_point();
+  apollo::common::PointENU* pt = polygon->add_point();
   pt->set_x(1.0);
   pt->set_y(1.0);
   pt->set_z(1.0);
@@ -201,7 +201,7 @@ void HDMapCommonTestSuite::init_crosswalk_obj(
     apollo::hdmap::Crosswalk* crosswalk) {
   crosswalk->mutable_id()->set_id("crosswalk_1");
   apollo::hdmap::Polygon* polygon = crosswalk->mutable_polygon();
-  apollo::hdmap::Point* pt = polygon->add_point();
+  apollo::common::PointENU* pt = polygon->add_point();
   pt->set_x(0.0);
   pt->set_y(0.0);
   pt->set_z(0.0);
@@ -225,7 +225,7 @@ void HDMapCommonTestSuite::init_stop_sign_obj(
       stop_sign->mutable_stop_line()->add_segment();
   apollo::hdmap::LineSegment* line_segment =
       curve_segment->mutable_line_segment();
-  apollo::hdmap::Point* pt = line_segment->add_point();
+  apollo::common::PointENU* pt = line_segment->add_point();
   pt->set_x(0.0);
   pt->set_y(0.0);
   pt->set_z(0.0);
@@ -245,7 +245,7 @@ void HDMapCommonTestSuite::init_yield_sign_obj(
       yield_sign->mutable_stop_line()->add_segment();
   apollo::hdmap::LineSegment* line_segment =
       curve_segment->mutable_line_segment();
-  apollo::hdmap::Point* pt = line_segment->add_point();
+  apollo::common::PointENU* pt = line_segment->add_point();
   pt->set_x(0.0);
   pt->set_y(0.0);
   pt->set_z(0.0);

modules/map/hdmap/hdmap_impl.cc

@@ -138,7 +138,7 @@ RoadInfoConstPtr HDMapImpl::get_road_by_id(const apollo::hdmap::Id& id) const {
     return it != _road_table.end() ? it->second : nullptr;
 }
 
-int HDMapImpl::get_lanes(const apollo::hdmap::Point& point,
+int HDMapImpl::get_lanes(const apollo::common::PointENU& point,
                      double distance,
                      std::vector<LaneInfoConstPtr>* lanes) const {
   return get_lanes({point.x(), point.y()}, distance, lanes);
@@ -165,7 +165,7 @@ int HDMapImpl::get_lanes(const apollo::common::math::Vec2d &point,
   return 0;
 }
 
-int HDMapImpl::get_roads(const apollo::hdmap::Point& point,
+int HDMapImpl::get_roads(const apollo::common::PointENU& point,
                 double distance,
                 std::vector<RoadInfoConstPtr>* roads) const {
   return get_roads({point.x(), point.y()}, distance, roads);
@@ -192,7 +192,7 @@ int HDMapImpl::get_roads(const apollo::common::math::Vec2d& point,
     return 0;
 }
 
-int HDMapImpl::get_junctions(const apollo::hdmap::Point& point,
+int HDMapImpl::get_junctions(const apollo::common::PointENU& point,
                          double distance,
                          std::vector<JunctionInfoConstPtr>* junctions) const {
   return get_junctions({point.x(), point.y()}, distance, junctions);
@@ -217,7 +217,7 @@ int HDMapImpl::get_junctions(const apollo::common::math::Vec2d& point,
   return 0;
 }
 
-int HDMapImpl::get_signals(const apollo::hdmap::Point& point,
+int HDMapImpl::get_signals(const apollo::common::PointENU& point,
                        double distance,
                        std::vector<SignalInfoConstPtr>* signals) const {
   return get_signals({point.x(), point.y()}, distance, signals);
@@ -242,7 +242,7 @@ int HDMapImpl::get_signals(const apollo::common::math::Vec2d& point,
     return 0;
 }
 
-int HDMapImpl::get_crosswalks(const apollo::hdmap::Point& point,
+int HDMapImpl::get_crosswalks(const apollo::common::PointENU& point,
                         double distance,
                         std::vector<CrosswalkInfoConstPtr>* crosswalks) const {
     return get_crosswalks({point.x(), point.y()}, distance, crosswalks);
@@ -267,7 +267,7 @@ int HDMapImpl::get_crosswalks(const apollo::common::math::Vec2d& point,
     return 0;
 }
 
-int HDMapImpl::get_stop_signs(const apollo::hdmap::Point& point,
+int HDMapImpl::get_stop_signs(const apollo::common::PointENU& point,
                           double distance,
                           std::vector<StopSignInfoConstPtr>* stop_signs) const {
     return get_stop_signs({point.x(), point.y()}, distance, stop_signs);
@@ -292,7 +292,7 @@ int HDMapImpl::get_stop_signs(const apollo::common::math::Vec2d& point,
     return 0;
 }
 
-int HDMapImpl::get_yield_signs(const apollo::hdmap::Point& point,
+int HDMapImpl::get_yield_signs(const apollo::common::PointENU& point,
                         double distance,
                         std::vector<YieldSignInfoConstPtr>* yield_signs) const {
     return get_yield_signs({point.x(), point.y()}, distance, yield_signs);
@@ -415,7 +415,7 @@ int HDMapImpl::search_objects(const apollo::common::math::Vec2d& center,
     return 0;
 }
 
-int HDMapImpl::get_nearest_lane(const apollo::hdmap::Point& point,
+int HDMapImpl::get_nearest_lane(const apollo::common::PointENU& point,
                 LaneInfoConstPtr* nearest_lane,
                 double* nearest_s,
                 double* nearest_l) const {
@@ -448,7 +448,7 @@ int HDMapImpl::get_nearest_lane(const apollo::common::math::Vec2d &point,
     return 0;
 }
 
-int HDMapImpl::get_nearest_lane_with_heading(const apollo::hdmap::Point& point,
+int HDMapImpl::get_nearest_lane_with_heading(const apollo::common::PointENU& point,
                                   const double distance,
                                   const double central_heading,
                                   const double max_heading_difference,
@@ -509,7 +509,7 @@ int HDMapImpl::get_nearest_lane_with_heading(
   return 0;
 }
 
-int HDMapImpl::get_lanes_with_heading(const apollo::hdmap::Point& point,
+int HDMapImpl::get_lanes_with_heading(const apollo::common::PointENU& point,
                             const double distance,
                             const double central_heading,
                             const double max_heading_difference,
@@ -550,7 +550,7 @@ int HDMapImpl::get_lanes_with_heading(const apollo::common::math::Vec2d &point,
   return 0;
 }
 
-int HDMapImpl::get_road_boundaries(const apollo::hdmap::Point& point,
+int HDMapImpl::get_road_boundaries(const apollo::common::PointENU& point,
                         double radius,
                         std::vector<RoadROIBoundaryPtr>* road_boundaries,
                         std::vector<JunctionBoundaryPtr>* junctions) const {

modules/map/hdmap/hdmap_impl.h

@@ -71,44 +71,44 @@ class HDMapImpl {
     OverlapInfoConstPtr get_overlap_by_id(const Id& id) const;
     RoadInfoConstPtr get_road_by_id(const apollo::hdmap::Id& id) const;
 
-    int get_lanes(const apollo::hdmap::Point& point,
+    int get_lanes(const apollo::common::PointENU& point,
                 double distance,
                 std::vector<LaneInfoConstPtr>* lanes) const;
-    int get_junctions(const apollo::hdmap::Point& point,
+    int get_junctions(const apollo::common::PointENU& point,
                     double distance,
                     std::vector<JunctionInfoConstPtr>* junctions) const;
-    int get_crosswalks(const apollo::hdmap::Point& point,
+    int get_crosswalks(const apollo::common::PointENU& point,
                     double distance,
                     std::vector<CrosswalkInfoConstPtr>* crosswalks) const;
-    int get_signals(const apollo::hdmap::Point& point,
+    int get_signals(const apollo::common::PointENU& point,
                     double distance,
                     std::vector<SignalInfoConstPtr>* signals) const;
-    int get_stop_signs(const apollo::hdmap::Point& point,
+    int get_stop_signs(const apollo::common::PointENU& point,
                     double distance,
                     std::vector<StopSignInfoConstPtr>* stop_signs) const;
-    int get_yield_signs(const apollo::hdmap::Point& point,
+    int get_yield_signs(const apollo::common::PointENU& point,
                     double distance,
                     std::vector<YieldSignInfoConstPtr>* yield_signs) const;
 
-    int get_nearest_lane(const apollo::hdmap::Point& point,
+    int get_nearest_lane(const apollo::common::PointENU& point,
                     LaneInfoConstPtr* nearest_lane,
                     double* nearest_s,
                     double* nearest_l) const;
-    int get_nearest_lane_with_heading(const apollo::hdmap::Point& point,
+    int get_nearest_lane_with_heading(const apollo::common::PointENU& point,
                                     const double distance,
                                     const double central_heading,
                                     const double max_heading_difference,
                                     LaneInfoConstPtr* nearest_lane,
                                     double* nearest_s,
                                     double* nearest_l) const;
-    int get_lanes_with_heading(const apollo::hdmap::Point& point,
+    int get_lanes_with_heading(const apollo::common::PointENU& point,
                                const double distance,
                                const double central_heading,
                                const double max_heading_difference,
                                std::vector<LaneInfoConstPtr>* lanes) const;
-    int get_roads(const apollo::hdmap::Point& point, double distance,
+    int get_roads(const apollo::common::PointENU& point, double distance,
                         std::vector<RoadInfoConstPtr>* roads) const;
-    int get_road_boundaries(const apollo::hdmap::Point& point,
+    int get_road_boundaries(const apollo::common::PointENU& point,
                             double radius,
                             std::vector<RoadROIBoundaryPtr>* road_boundaries,
                             std::vector<JunctionBoundaryPtr>* junctions) const;

modules/map/hdmap/hdmap_impl_test.cc

@@ -158,7 +158,7 @@ TEST_F(HDMapImplTestSuite, get_road_by_id) {
 TEST_F(HDMapImplTestSuite, get_lanes) {
   initial_context();
   std::vector<LaneInfoConstPtr> lanes;
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(0.0);
   point.set_y(0.0);
   point.set_z(0.0);
@@ -179,7 +179,7 @@ TEST_F(HDMapImplTestSuite, get_lanes) {
 
 TEST_F(HDMapImplTestSuite, get_nearest_lane_with_heading) {
   initial_context();
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(0.0);
   point.set_y(0.0);
   point.set_z(0.0);
@@ -199,7 +199,7 @@ TEST_F(HDMapImplTestSuite, get_nearest_lane_with_heading) {
 
 TEST_F(HDMapImplTestSuite, get_lanes_with_heading) {
   initial_context();
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(0.0);
   point.set_y(0.0);
   point.set_z(0.0);
@@ -217,7 +217,7 @@ TEST_F(HDMapImplTestSuite, get_lanes_with_heading) {
 TEST_F(HDMapImplTestSuite, get_junctions) {
   initial_context();
   std::vector<JunctionInfoConstPtr> junctions;
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(-36.0);
   point.set_y(-28.0);
   point.set_z(0.0);
@@ -231,7 +231,7 @@ TEST_F(HDMapImplTestSuite, get_junctions) {
 TEST_F(HDMapImplTestSuite, get_crosswalks) {
   initial_context();
   std::vector<CrosswalkInfoConstPtr> crosswalks;
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(199.0);
   point.set_y(-440.0);
   point.set_z(0.0);
@@ -246,7 +246,7 @@ TEST_F(HDMapImplTestSuite, get_signals) {
   initial_context();
   std::vector<SignalInfoConstPtr> signals;
 
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(-250.0);
   point.set_y(405.0);
   point.set_z(0.0);
@@ -263,7 +263,7 @@ TEST_F(HDMapImplTestSuite, get_stop_signs) {
   initial_context();
   std::vector<StopSignInfoConstPtr> stop_signs;
 
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(0.0);
   point.set_y(0.0);
   point.set_z(0.0);
@@ -276,7 +276,7 @@ TEST_F(HDMapImplTestSuite, get_yield_signs) {
   initial_context();
   std::vector<YieldSignInfoConstPtr> yield_signs;
 
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(0.0);
   point.set_y(0.0);
   point.set_z(0.0);
@@ -288,7 +288,7 @@ TEST_F(HDMapImplTestSuite, get_roads) {
   initial_boundary_context();
   std::vector<RoadInfoConstPtr> roads;
 
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(435730.0);
   point.set_y(4436777.0);
   point.set_z(0.0);
@@ -318,7 +318,7 @@ TEST_F(HDMapImplTestSuite, get_nearest_lane) {
   double s = 0.0;
   double l = 0.0;
   
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
 
   point.set_x(2.5);
   point.set_y(-20.0);
@@ -339,7 +339,7 @@ TEST_F(HDMapImplTestSuite, get_nearest_lane) {
 
 TEST_F(HDMapImplTestSuite, get_road_boundaries) {
   initial_boundary_context();
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(435798.0);
   point.set_y(4436768.0);
   point.set_z(0.0);

modules/map/pnc_map/path_test.cc

@@ -29,7 +29,7 @@
 using Id = apollo::hdmap::Id;
 using Lane = apollo::hdmap::Lane;
 using LaneSampleAssociation = apollo::hdmap::LaneSampleAssociation;
-using Point = apollo::hdmap::Point;
+using Point = apollo::common::PointENU;
 using RoutingRequest = apollo::hdmap::RoutingRequest;
 using RoutingResult = apollo::hdmap::RoutingResult;
 using MapPathPoint = apollo::hdmap::MapPathPoint;

modules/map/proto/map_geometry.proto

 syntax = "proto2";
 
-package apollo.hdmap;
+import "modules/common/proto/geometry.proto";
 
-// 3D points.
-// TODO: Use adu.common.PointENU instead of this.
-message Point {
-  optional double x = 1;  // in meters.
-  optional double y = 2;  // in meters.
-  optional double z = 3;  // height in meters.
-}
+package apollo.hdmap;
 
 // Polygon, not necessary convex.
 message Polygon {
-  repeated Point point = 1;
+  repeated apollo.common.PointENU point = 1;
 }
 
 // Straight line segment.
 message LineSegment {
-  repeated Point point = 1;
+  repeated apollo.common.PointENU point = 1;
 }
 
 message Arc {
-  optional Point center = 1;
+  optional apollo.common.PointENU center = 1;
   optional double radius = 2;
   optional double start_angle = 3;
   optional double end_angle = 4;
@@ -37,7 +31,7 @@ message Spline {
   optional int32 dimension = 1;
   optional int32 degree = 2;
   repeated double knot = 3 [packed = true];
-  repeated Point control = 4;
+  repeated apollo.common.PointENU control = 4;
 }
 
 message Poly3 {
@@ -54,7 +48,7 @@ message CurveSegment {
     Poly3 poly3 = 5;
   }
   optional double s = 6;  // start position (s-coordinate)
-  optional Point start_position = 7;
+  optional apollo.common.PointENU start_position = 7;
   optional double heading = 8; // start orientation
   optional double length = 9;
 }

modules/map/proto/map_signal.proto

@@ -2,6 +2,7 @@ syntax = "proto2";
 
 package apollo.hdmap;
 
+import "modules/common/proto/geometry.proto";
 import "modules/map/proto/map_geometry.proto";
 import "modules/map/proto/map_id.proto";
 
@@ -21,7 +22,7 @@ message Subsignal {
   optional Type type = 2;
 
   // Location of the center of the bulb. now no data support.
-  optional Point location = 3;
+  optional apollo.common.PointENU location = 3;
 }
 
 message Signal {

modules/map/proto/map_stop_sign.proto

@@ -2,6 +2,7 @@ syntax = "proto2";
 
 package apollo.hdmap;
 
+import "modules/common/proto/geometry.proto";
 import "modules/map/proto/map_geometry.proto";
 import "modules/map/proto/map_id.proto";
 
@@ -22,7 +23,7 @@ message StopSign {
   optional Curve stop_line = 2;
 
   // Location of the stand point.
-  optional Point location = 3;
+  optional apollo.common.PointENU location = 3;
 
   repeated Id overlap_id = 4;
 

modules/map/proto/map_yield_sign.proto

@@ -2,6 +2,7 @@ syntax = "proto2";
 
 package apollo.hdmap;
 
+import "modules/common/proto/geometry.proto";
 import "modules/map/proto/map_geometry.proto";
 import "modules/map/proto/map_id.proto";
 
@@ -13,7 +14,7 @@ message YieldSign {
   optional Curve stop_line = 2;
 
   // Location of the stand point.
-  optional Point location = 3;
+  optional apollo.common.PointENU location = 3;
 
   repeated Id overlap_id = 4;
 }

modules/perception/obstacle/onboard/hdmap_input.cc

@@ -67,7 +67,7 @@ bool HDMapInput::GetROI(const PointD& pointd, HdmapStructPtr* mapptr) {
   if (mapptr != NULL && *mapptr == nullptr) {
     (*mapptr).reset(new HdmapStruct);
   }
-  apollo::hdmap::Point point;
+  apollo::common::PointENU point;
   point.set_x(pointd.x);
   point.set_y(pointd.y);
   point.set_z(pointd.z);

modules/planning/common/frame.cc

@@ -77,7 +77,7 @@ const PublishableTrajectory &Frame::computed_trajectory() const {
 }
 
 bool Frame::CreateReferenceLineFromRouting() {
-  hdmap::Point vehicle_position;
+  common::PointENU vehicle_position;
   vehicle_position.set_x(init_pose_.position().x());
   vehicle_position.set_y(init_pose_.position().y());
   vehicle_position.set_z(init_pose_.position().z());

modules/planning/common/routing_helper.cc

@@ -157,7 +157,7 @@ bool RoutingHelper::validate_routing(
 }
 
 bool RoutingHelper::CreatePathFromRouting(const hdmap::RoutingResult &routing,
-                                          const hdmap::Point &point,
+                                          const common::PointENU &point,
                                           const double backward_length,
                                           const double forward_length,
                                           hdmap::Path *path) const {
@@ -193,7 +193,7 @@ bool RoutingHelper::CreatePathFromRouting(const hdmap::RoutingResult &routing,
       continue;
     }
     double distance = 0.0;
-    hdmap::Point map_point =
+    common::PointENU map_point =
         lane->get_nearest_point({point.x(), point.y()}, &distance);
     if (distance < min_distance) {
       min_distance = distance;

modules/planning/common/routing_helper.h

@@ -38,7 +38,7 @@ class RoutingHelper {
   void SetMap(const hdmap::HDMap *map_ptr);
   ~RoutingHelper() = default;
   bool CreatePathFromRouting(const hdmap::RoutingResult &routing,
-                             const hdmap::Point &point,
+                             const common::PointENU &point,
                              const double backward_length,
                              const double forward_length,
                              hdmap::Path *path) const;

modules/planning/optimizer/dp_poly_path/path_sampler_test.cc

@@ -68,6 +68,7 @@ TEST_F(PathSamplerTest, sample_one_point) {
 }
 
 TEST_F(PathSamplerTest, sample_three_points) {
+  ReferenceLine ref = *reference_line_;
   dp_poly_path_config_.set_sample_points_num_each_level(3);
   PathSampler sampler(dp_poly_path_config_);
   bool sample_result =

modules/planning/optimizer/st_graph/st_boundary_mapper.cc

@@ -89,7 +89,7 @@ Status StBoundaryMapper::get_speed_limits(
     const double default_speed_limit, SpeedLimit* const speed_limit_data) {
   const auto& adc_position = pose.position();
 
-  apollo::hdmap::Point adc_point;
+  apollo::common::PointENU adc_point;
   adc_point.set_x(adc_position.x());
   adc_point.set_y(adc_position.y());
   adc_point.set_z(adc_position.z());

modules/prediction/common/prediction_map.cc

@@ -55,7 +55,7 @@ Id PredictionMap::id(const std::string& str_id) {
 
 Eigen::Vector2d PredictionMap::PositionOnLane(const LaneInfo* lane_info,
                                               const double s) {
-  apollo::hdmap::Point point = lane_info->get_smooth_point(s);
+  apollo::common::PointENU point = lane_info->get_smooth_point(s);
   return {point.x(), point.y()};
 }
 
@@ -115,7 +115,7 @@ bool PredictionMap::ProjectionFromLane(const LaneInfo* lane_info_ptr, double s,
   if (lane_info_ptr == nullptr) {
     return false;
   }
-  apollo::hdmap::Point point = lane_info_ptr->get_smooth_point(s);
+  apollo::common::PointENU point = lane_info_ptr->get_smooth_point(s);
   double heading = HeadingOnLane(lane_info_ptr, s);
   path_point->set_x(point.x());
   path_point->set_y(point.y());
@@ -129,7 +129,7 @@ void PredictionMap::OnLane(const std::vector<const LaneInfo*>& prev_lanes,
                            std::vector<const LaneInfo*>* lanes) {
   std::vector<std::shared_ptr<const LaneInfo>> candidate_lanes;
   // TODO(kechxu) clean the messy code of this function
-  apollo::hdmap::Point hdmap_point;
+  apollo::common::PointENU hdmap_point;
   hdmap_point.set_x(point[0]);
   hdmap_point.set_y(point[1]);
   apollo::common::math::Vec2d vec_point;
@@ -151,7 +151,7 @@ void PredictionMap::OnLane(const std::vector<const LaneInfo*>& prev_lanes,
       continue;
     } else {
       double distance = 0.0;
-      apollo::hdmap::Point nearest_point =
+      apollo::common::PointENU nearest_point =
           candidate_lane->get_nearest_point(vec_point, &distance);
       double nearest_point_heading =
           PathHeading(candidate_lane.get(), nearest_point);
@@ -165,7 +165,7 @@ void PredictionMap::OnLane(const std::vector<const LaneInfo*>& prev_lanes,
 }
 
 double PredictionMap::PathHeading(const LaneInfo* lane_info_ptr,
-                                  const apollo::hdmap::Point& point) {
+                                  const apollo::common::PointENU& point) {
   apollo::common::math::Vec2d vec_point;
   vec_point.set_x(point.x());
   vec_point.set_y(point.y());
@@ -184,7 +184,7 @@ int PredictionMap::SmoothPointFromLane(const apollo::hdmap::Id& id,
     return -1;
   }
   const LaneInfo* lane = LaneById(id);
-  apollo::hdmap::Point hdmap_point = lane->get_smooth_point(s);
+  apollo::common::PointENU hdmap_point = lane->get_smooth_point(s);
   *heading = PathHeading(lane, hdmap_point);
   point->operator[](0) = hdmap_point.x() - std::sin(*heading) * l;
   point->operator[](1) = hdmap_point.y() + std::cos(*heading) * l;

modules/prediction/common/prediction_map.h

@@ -67,7 +67,7 @@ class PredictionMap {
               std::vector<const apollo::hdmap::LaneInfo*>* lanes);
 
   double PathHeading(const apollo::hdmap::LaneInfo* lane_info_ptr,
-                     const apollo::hdmap::Point& point);
+                     const apollo::common::PointENU& point);
 
   int SmoothPointFromLane(const apollo::hdmap::Id& id, const double s,
                           const double l, Eigen::Vector2d* point,

modules/prediction/container/obstacles/obstacle.cc

@@ -777,7 +777,7 @@ void Obstacle::SetCurrentLanes(Feature* feature) {
     // TODO(kechxu) clean the follow code
     apollo::common::math::Vec2d vec_point(point[0], point[1]);
     double distance = 0.0;
-    apollo::hdmap::Point nearest_point =
+    apollo::common::PointENU nearest_point =
         current_lane->get_nearest_point(vec_point, &distance);
     double nearest_point_heading =
         map->PathHeading(current_lane, nearest_point);

modules/tools/map_tool/map_xysl.cc

@@ -91,7 +91,7 @@ class MapUtil {
     return ret.get();
   }
 
-  int point_to_sl(const ::apollo::hdmap::Point &point,
+  int point_to_sl(const ::apollo::common::PointENU &point,
                   std::string *lane_id, double *s, double *l) {
     QUIT_IF(lane_id == nullptr, -1, ERROR, "arg lane id is null");
     QUIT_IF(s == nullptr, -2, ERROR, "arg s is null");
@@ -105,7 +105,7 @@ class MapUtil {
   }
 
   int sl_to_point(const std::string &lane_id, const double s,
-                  const double l, ::apollo::hdmap::Point *point,
+                  const double l, ::apollo::common::PointENU *point,
                   double *heading) {
     QUIT_IF(point == nullptr, -1, ERROR, "arg point is null");
     QUIT_IF(heading == nullptr, -2, ERROR, "arg heading is null");
@@ -166,7 +166,7 @@ int main(int argc, char *argv[]) {
   if (FLAGS_xy_to_sl) {
     double x = FLAGS_x;
     double y = FLAGS_y;
-    ::apollo::hdmap::Point point;
+    ::apollo::common::PointENU point;
     point.set_x(x);
     point.set_y(y);
     point.set_z(0);
@@ -180,7 +180,7 @@ int main(int argc, char *argv[]) {
            lane_id.c_str(), s, l, heading);
   }
   if (FLAGS_sl_to_xy) {
-    ::apollo::hdmap::Point point;
+    ::apollo::common::PointENU point;
     double heading = 0.0;
     map_util.sl_to_point(FLAGS_lane, FLAGS_s, FLAGS_l, &point, &heading);
     printf("x[%f] y[%f], heading[%f]\n", point.x(), point.y(), heading);
@@ -198,7 +198,7 @@ int main(int argc, char *argv[]) {
     printf("lane[%s] s[%f], l[%f]\n", FLAGS_lane.c_str(), s, l);
   }
   if (FLAGS_lane_to_lane) {
-    ::apollo::hdmap::Point point;
+    ::apollo::common::PointENU point;
     double heading = 0.0;
     map_util.sl_to_point(FLAGS_from_lane, FLAGS_s, 0.0, &point, &heading);
     double target_s = 0.0;
@@ -227,11 +227,11 @@ int main(int argc, char *argv[]) {
     const auto *lane_ptr = map_util.get_lane(FLAGS_lane_info);
     const auto &lane = lane_ptr->lane();
 
-    ::apollo::hdmap::Point start_point;
+    ::apollo::common::PointENU start_point;
     double start_heading = 0.0;
     map_util.sl_to_point(FLAGS_lane_info, 0, 0, &start_point, &start_heading);
 
-    ::apollo::hdmap::Point end_point;
+    ::apollo::common::PointENU end_point;
     double end_heading = 0.0;
     map_util.sl_to_point(FLAGS_lane_info, lane_ptr->total_length(), 0,
                          &end_point, &end_heading);