planning: update learning_data proto to avoid naming conflict in...

planning: update learning_data proto to avoid naming conflict in TrajectoryPoint when being introduced to online training

modules/planning/pipeline/evaluator.cc

@@ -100,10 +100,11 @@ void Evaluator::WriteOutData(
 void Evaluator::EvaluateTrajectoryByTime(
     const int frame_num,
     const std::string& obstacle_id,
-    const std::vector<std::pair<double, TrajectoryPointFeature>>& trajectory,
+    const std::vector<std::pair<double, CommonTrajectoryPointFeature>>&
+        trajectory,
     const double start_point_timestamp_sec,
     const double delta_time,
-    std::vector<TrajectoryPoint>* evaluated_trajectory) {
+    std::vector<TrajectoryPointFeature>* evaluated_trajectory) {
   if (trajectory.empty() ||
       fabs(trajectory.front().first - trajectory.back().first) <
           FLAGS_trajectory_delta_t) {
@@ -112,7 +113,7 @@ void Evaluator::EvaluateTrajectoryByTime(
 
   std::vector<apollo::common::TrajectoryPoint> updated_trajectory;
   for (const auto& tp : trajectory) {
-    // TrajectoryPointFeature => common::Trajectory
+    // CommonTrajectoryPointFeature => common::TrajectoryPoint
     apollo::common::TrajectoryPoint trajectory_point;
     auto path_point = trajectory_point.mutable_path_point();
     path_point->set_x(tp.second.path_point().x());
@@ -164,8 +165,8 @@ void Evaluator::EvaluateTrajectoryByTime(
     double relative_time = i * delta_time;
     auto tp = discretized_trajectory.Evaluate(relative_time);
 
-    // common::TrajectoryPoint => TrajectoryPoint
-    TrajectoryPoint trajectory_point;
+    // common::TrajectoryPoint => TrajectoryPointFeature
+    TrajectoryPointFeature trajectory_point;
     trajectory_point.set_timestamp_sec(timestamp_sec);
     auto path_point =
         trajectory_point.mutable_trajectory_point()->mutable_path_point();
@@ -189,7 +190,7 @@ void Evaluator::EvaluateTrajectoryByTime(
 void Evaluator::EvaluateADCTrajectory(
     const double start_point_timestamp_sec,
     LearningDataFrame* learning_data_frame) {
-  std::vector<std::pair<double, TrajectoryPointFeature>> trajectory;
+  std::vector<std::pair<double, CommonTrajectoryPointFeature>> trajectory;
   for (int i = 0; i < learning_data_frame->adc_trajectory_point_size(); i++) {
     ADCTrajectoryPoint adc_tp =
         learning_data_frame->adc_trajectory_point(i);
@@ -225,7 +226,7 @@ void Evaluator::EvaluateADCTrajectory(
     return;
   }
 
-  std::vector<TrajectoryPoint> evaluated_trajectory;
+  std::vector<TrajectoryPointFeature> evaluated_trajectory;
   EvaluateTrajectoryByTime(learning_data_frame->frame_num(),
                            "adc_trajectory",
                            trajectory,
@@ -260,10 +261,10 @@ void Evaluator::EvaluateADCTrajectory(
 void Evaluator::EvaluateADCFutureTrajectory(
     const double start_point_timestamp_sec,
     LearningDataFrame* learning_data_frame) {
-  std::vector<std::pair<double, TrajectoryPointFeature>> trajectory;
+  std::vector<std::pair<double, CommonTrajectoryPointFeature>> trajectory;
   for (int i = 0; i <
       learning_data_frame->output().adc_future_trajectory_point_size(); i++) {
-    ADCTrajectoryPoint adc_tp =
+    TrajectoryPointFeature adc_tp =
         learning_data_frame->output().adc_future_trajectory_point(i);
     trajectory.push_back(std::make_pair(adc_tp.timestamp_sec(),
                                         adc_tp.trajectory_point()));
@@ -304,7 +305,7 @@ void Evaluator::EvaluateADCFutureTrajectory(
     return;
   }
 
-  std::vector<TrajectoryPoint> evaluated_trajectory;
+  std::vector<TrajectoryPointFeature> evaluated_trajectory;
   EvaluateTrajectoryByTime(learning_data_frame->frame_num(),
                            "adc_future_trajectory",
                            trajectory,
@@ -365,13 +366,13 @@ void Evaluator::EvaluateObstacleTrajectory(
     const int obstacle_id = learning_data_frame->obstacle(i).id();
     const auto obstacle_trajectory =
         learning_data_frame->obstacle(i).obstacle_trajectory();
-    std::vector<std::pair<double, TrajectoryPointFeature>> trajectory;
+    std::vector<std::pair<double, CommonTrajectoryPointFeature>> trajectory;
     for (int j = 0; j <
         obstacle_trajectory.perception_obstacle_history_size(); ++j) {
       const auto perception_obstacle =
           obstacle_trajectory.perception_obstacle_history(j);
 
-      TrajectoryPointFeature trajectory_point;
+      CommonTrajectoryPointFeature trajectory_point;
       trajectory_point.mutable_path_point()->set_x(
           perception_obstacle.position().x());
       trajectory_point.mutable_path_point()->set_y(
@@ -408,7 +409,7 @@ void Evaluator::EvaluateObstacleTrajectory(
       continue;
     }
 
-    std::vector<TrajectoryPoint> evaluated_trajectory;
+    std::vector<TrajectoryPointFeature> evaluated_trajectory;
     EvaluateTrajectoryByTime(learning_data_frame->frame_num(),
                              std::to_string(obstacle_id),
                              trajectory,
@@ -448,7 +449,7 @@ void Evaluator::EvaluateObstaclePredictionTrajectory(
       const auto obstacle_prediction_trajectory =
           obstacle_prediction.trajectory(j);
 
-      std::vector<std::pair<double, TrajectoryPointFeature>> trajectory;
+      std::vector<std::pair<double, CommonTrajectoryPointFeature>> trajectory;
       for (int k = 0; k <
           obstacle_prediction_trajectory.trajectory_point_size(); ++k) {
         const double timestamp_sec = obstacle_prediction.timestamp_sec() +
@@ -470,7 +471,7 @@ void Evaluator::EvaluateObstaclePredictionTrajectory(
         continue;
       }
 
-      std::vector<TrajectoryPoint> evaluated_trajectory;
+      std::vector<TrajectoryPointFeature> evaluated_trajectory;
       EvaluateTrajectoryByTime(learning_data_frame->frame_num(),
                                std::to_string(obstacle_id),
                                trajectory,

modules/planning/pipeline/evaluator.h

@@ -38,10 +38,11 @@ class Evaluator {
   void EvaluateTrajectoryByTime(
       const int frame_num,
       const std::string& obstacle_id,
-      const std::vector<std::pair<double, TrajectoryPointFeature>>& trajectory,
+      const std::vector<std::pair<double, CommonTrajectoryPointFeature>>&
+          trajectory,
       const double start_point_timestamp_sec,
       const double delta_time,
-      std::vector<TrajectoryPoint>* evaluated_trajectory);
+      std::vector<TrajectoryPointFeature>* evaluated_trajectory);
 
   void EvaluateADCTrajectory(const double start_point_timestamp_sec,
                              LearningDataFrame* learning_data_frame);

modules/planning/proto/learning_data.proto

@@ -74,7 +74,7 @@ message LocalizationFeature {
 }
 
 // based on apollo.common.PathPoint
-message PathPointFeature {
+message CommonPathPointFeature {
   // coordinates
   optional double x = 1;
   optional double y = 2;
@@ -89,9 +89,9 @@ message PathPointFeature {
 }
 
 // based on apollo.commom.TrajectoryPoint
-message TrajectoryPointFeature {
+message CommonTrajectoryPointFeature {
   // path point
-  optional PathPointFeature path_point = 1;
+  optional CommonPathPointFeature path_point = 1;
   // linear velocity
   optional double v = 2;  // in [m/s]
   // linear acceleration
@@ -102,9 +102,9 @@ message TrajectoryPointFeature {
   optional apollo.common.GaussianInfo gaussian_info = 5;
 }
 
-message TrajectoryPoint {
+message TrajectoryPointFeature {
   optional double timestamp_sec = 1;
-  optional TrajectoryPointFeature trajectory_point = 2;
+  optional CommonTrajectoryPointFeature trajectory_point = 2;
 }
 
 // based on apollo.perception.PerceptionObstacle
@@ -129,13 +129,13 @@ message PerceptionObstacleFeature {
 
 message ObstacleTrajectoryFeature {
   repeated PerceptionObstacleFeature perception_obstacle_history = 1;
-  repeated TrajectoryPoint evaluated_trajectory_point = 2;
+  repeated TrajectoryPointFeature evaluated_trajectory_point = 2;
 }
 
 // based on apollo.prediction.Trajectory
 message PredictionTrajectoryFeature {
   optional double probability = 1;  // probability of this trajectory
-  repeated TrajectoryPoint trajectory_point = 2;
+  repeated TrajectoryPointFeature trajectory_point = 2;
 }
 
 // based on apollo.prediction.PredictionObstacle
@@ -183,11 +183,11 @@ message TrafficLightDetectionFeature {
 message ADCTrajectoryPoint {
   optional double timestamp_sec = 1;  // localization measurement_time
   optional PlanningTag planning_tag = 2;
-  optional TrajectoryPointFeature trajectory_point = 3;
+  optional CommonTrajectoryPointFeature trajectory_point = 3;
 }
 
 message LearningOutput {
-  repeated ADCTrajectoryPoint adc_future_trajectory_point = 1;
+  repeated TrajectoryPointFeature adc_future_trajectory_point = 1;
 }
 
 message LearningDataFrame {