Map: Rename BaseMap getters.

modules/hmi/ros_bridge/ros_bridge.cc

@@ -59,7 +59,7 @@ class RosBridge {
         apollo::hdmap::EndWayPointFile(),
         routing_request_template.mutable_end()));
     // Init HDMap.
-    CHECK(HDMapUtil::BaseMap());
+    CHECK(HDMapUtil::BaseMapPtr());
   }
 
  private:
@@ -132,7 +132,7 @@ class RosBridge {
     apollo::hdmap::LaneInfoConstPtr lane = nullptr;
     double s, l;
 
-    HDMapUtil::BaseMapRef().GetNearestLane(pos, &lane, &s, &l);
+    HDMapUtil::BaseMap().GetNearestLane(pos, &lane, &s, &l);
     if (lane == nullptr) {
       AERROR << "Cannot get nearest lane from current position.";
       return;

modules/map/hdmap/hdmap_util.cc

@@ -65,7 +65,7 @@ std::unique_ptr<HDMap> CreateMap(const std::string& map_file_path) {
 std::unique_ptr<HDMap> HDMapUtil::base_map_ = nullptr;
 std::mutex HDMapUtil::base_map_mutex_;
 
-const HDMap* HDMapUtil::BaseMap() {
+const HDMap* HDMapUtil::BaseMapPtr() {
   if (base_map_ == nullptr) {
     std::lock_guard<std::mutex> lock(base_map_mutex_);
     if (base_map_ == nullptr) {  // Double check.
@@ -75,8 +75,8 @@ const HDMap* HDMapUtil::BaseMap() {
   return base_map_.get();
 }
 
-const HDMap& HDMapUtil::BaseMapRef() {
-  return *CHECK_NOTNULL(BaseMap());
+const HDMap& HDMapUtil::BaseMap() {
+  return *CHECK_NOTNULL(BaseMapPtr());
 }
 
 bool HDMapUtil::ReloadBaseMap() {

modules/map/hdmap/hdmap_util.h

@@ -76,10 +76,10 @@ class HDMapUtil {
  public:
   // Get default base map from the file specified by global flags.
   // Return nullptr if failed to load.
-  static const HDMap* BaseMap();
+  static const HDMap* BaseMapPtr();
   // Similar to BaseMap(), but garantee to return a valid HDMap, or else raise
   // fatal error.
-  static const HDMap& BaseMapRef();
+  static const HDMap& BaseMap();
 
   // Reload the base map from the file specified by global flags.
   static bool ReloadBaseMap();

modules/map/tools/map_xysl.cc

@@ -60,19 +60,19 @@ do { \
 class MapUtil {
  public:
   const OverlapInfo *get_overlap(const std::string &overlap_id) {
-    auto ret = HDMapUtil::BaseMapRef().GetOverlapById(MakeMapId(overlap_id));
+    auto ret = HDMapUtil::BaseMap().GetOverlapById(MakeMapId(overlap_id));
     AERROR_IF(ret == nullptr) << "failed to find overlap[" << overlap_id << "]";
     return ret.get();
   }
 
   const SignalInfo *get_signal(const std::string &signal_id) {
-    auto ret = HDMapUtil::BaseMapRef().GetSignalById(MakeMapId(signal_id));
+    auto ret = HDMapUtil::BaseMap().GetSignalById(MakeMapId(signal_id));
     AERROR_IF(ret == nullptr) << "failed to find overlap[" << signal_id << "]";
     return ret.get();
   }
 
   const LaneInfo *get_lane(const std::string &lane_id) {
-    auto ret = HDMapUtil::BaseMapRef().GetLaneById(MakeMapId(lane_id));
+    auto ret = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
     AERROR_IF(ret == nullptr) << "failed to find lane[" << lane_id << "]";
     return ret.get();
   }
@@ -83,7 +83,7 @@ class MapUtil {
     QUIT_IF(s == nullptr, -2, ERROR, "arg s is null");
     QUIT_IF(l == nullptr, -3, ERROR, "arg l is null");
     LaneInfoConstPtr lane = nullptr;
-    int ret = HDMapUtil::BaseMapRef().GetNearestLane(point, &lane, s, l);
+    int ret = HDMapUtil::BaseMap().GetNearestLane(point, &lane, s, l);
     QUIT_IF(ret != 0, -4, ERROR, "get_nearest_lane failed with ret[%d]", ret);
     QUIT_IF(lane == nullptr, -5, ERROR, "lane is null");
     *lane_id = lane->id().id();
@@ -94,7 +94,7 @@ class MapUtil {
                   PointENU *point, double *heading) {
     QUIT_IF(point == nullptr, -1, ERROR, "arg point is null");
     QUIT_IF(heading == nullptr, -2, ERROR, "arg heading is null");
-    const auto lane = HDMapUtil::BaseMapRef().GetLaneById(MakeMapId(lane_id));
+    const auto lane = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
     QUIT_IF(lane == nullptr, -3, ERROR,
             "get_smooth_point_from_lane[%s] failed", lane_id.c_str());
     *point = lane->get_smooth_point(s);
@@ -105,7 +105,7 @@ class MapUtil {
                       const std::string &lane_id,
                       double *s, double *l) {
     QUIT_IF(s == nullptr, -1, ERROR, "arg s is nullptr");
-    const auto lane = HDMapUtil::BaseMapRef().GetLaneById(MakeMapId(lane_id));
+    const auto lane = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
     QUIT_IF(lane == nullptr, -2, ERROR,
             "get_lane_by_id[%s] failed", lane_id.c_str());
     bool ret = lane->get_projection(vec2d, s, l);

modules/map/tools/refresh_default_end_way_point.cc

@@ -36,8 +36,7 @@ namespace hdmap {
 
 apollo::common::PointENU SLToXYZ(const std::string& lane_id,
                                  const double s, const double l) {
-  const auto lane_info = HDMapUtil::BaseMapRef().GetLaneById(
-      MakeMapId(lane_id));
+  const auto lane_info = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
   CHECK(lane_info);
   return lane_info->get_smooth_point(s);
 }
@@ -49,7 +48,7 @@ void XYZToSL(const apollo::common::PointENU& point,
   CHECK(l);
   LaneInfoConstPtr lane = nullptr;
 
-  CHECK_EQ(HDMapUtil::BaseMapRef().GetNearestLane(point, &lane, s, l), 0);
+  CHECK_EQ(HDMapUtil::BaseMap().GetNearestLane(point, &lane, s, l), 0);
   *lane_id = lane->id().id();
 }
 

modules/perception/obstacle/onboard/hdmap_input.cc

@@ -54,7 +54,7 @@ bool HDMapInput::Init() {
 }
 
 bool HDMapInput::GetROI(const PointD& pointd, HdmapStructPtr* mapptr) {
-  auto* hdmap = HDMapUtil::BaseMap();
+  auto* hdmap = HDMapUtil::BaseMapPtr();
   if (hdmap == nullptr) {
     return false;
   }

modules/prediction/common/prediction_map.cc

@@ -61,7 +61,7 @@ double PredictionMap::LaneTotalWidth(
 
 std::shared_ptr<const LaneInfo> PredictionMap::LaneById(
     const std::string& str_id) {
-  return HDMapUtil::BaseMapRef().GetLaneById(apollo::hdmap::MakeMapId(str_id));
+  return HDMapUtil::BaseMap().GetLaneById(apollo::hdmap::MakeMapId(str_id));
 }
 
 bool PredictionMap::GetProjection(const Eigen::Vector2d& position,
@@ -97,7 +97,7 @@ void PredictionMap::OnLane(
   apollo::common::PointENU hdmap_point;
   hdmap_point.set_x(point[0]);
   hdmap_point.set_y(point[1]);
-  if (HDMapUtil::BaseMapRef().GetLanesWithHeading(
+  if (HDMapUtil::BaseMap().GetLanesWithHeading(
           hdmap_point, radius, heading, M_PI, &candidate_lanes) != 0) {
     return;
   }