Robot: Fix typos.

modules/localization/msf/common/util/voxel_grid_covariance_hdmap.h

@@ -580,7 +580,7 @@ class VoxelGridCovariance : public pcl::VoxelGrid<PointT> {
   // Flag to determine if voxel structure is searchable. */
   bool searchable_;
 
-  // Minimum points contained with in a voxel to allow it to be useable.
+  // Minimum points contained with in a voxel to allow it to be usable.
   int min_points_per_voxel_;
 
   // Minimum allowable ratio between eigenvalues.
@@ -590,7 +590,7 @@ class VoxelGridCovariance : public pcl::VoxelGrid<PointT> {
   std::map<size_t, Leaf> leaves_;
 
   /* Point cloud containing centroids of voxels
-   * containing atleast minimum number of points. */
+   * containing at least minimum number of points. */
   PointCloudPtr voxel_centroids_;
 
   /* Indices of leaf structurs associated with each point in

modules/localization/msf/local_integ/localization_gnss_process.cc

@@ -136,7 +136,7 @@ void LocalizationGnssProcess::RawEphemerisProcess(
   auto gnss_orbit = msg;
   if (gnss_orbit.gnss_type() == drivers::gnss::GnssType::GLO_SYS) {
     /* caros driver (derived from rtklib src) set glonass eph toe as the GPST,
-     * and here convert it back to UTC(+0), so leap seconds shoudl be in
+     * and here convert it back to UTC(+0), so leap seconds should be in
      * accordance with the GNSS-Driver
      */
     double leap_sec =
@@ -316,7 +316,7 @@ bool LocalizationGnssProcess::GnssPosition(EpochObservationMsg *raw_rover_obs) {
   }
   LogPnt(gnss_pnt_result_, gnss_solver_->get_ratio());
   if (!sins_align_finish_) {
-    AWARN << "Sins-ekf has not converged or finished its aligment!";
+    AWARN << "Sins-ekf has not converged or finished its alignment!";
   }
   if (gnss_pnt_result_.has_std_pos_x_m() &&
       gnss_pnt_result_.has_std_pos_y_m() &&

modules/localization/msf/local_integ/localization_lidar_process.cc

@@ -107,8 +107,8 @@ Status LocalizationLidarProcess::Init(const LocalizationIntegParam& params) {
   local_lidar_status_ = LocalLidarStatus::MSF_LOCAL_LIDAR_UNDEFINED_STATUS;
   local_lidar_quality_ = LocalLidarQuality::MSF_LOCAL_LIDAR_BAD;
 
-  bool sucess = LoadLidarExtrinsic(lidar_extrinsic_file_, &lidar_extrinsic_);
-  if (!sucess) {
+  bool success = LoadLidarExtrinsic(lidar_extrinsic_file_, &lidar_extrinsic_);
+  if (!success) {
     AERROR << "LocalizationLidar: Fail to access the lidar"
               " extrinsic file: "
            << lidar_extrinsic_file_;
@@ -116,8 +116,8 @@ Status LocalizationLidarProcess::Init(const LocalizationIntegParam& params) {
                   "Fail to access the lidar extrinsic file");
   }
 
-  sucess = LoadLidarHeight(lidar_height_file_, &lidar_height_);
-  if (!sucess) {
+  success = LoadLidarHeight(lidar_height_file_, &lidar_height_);
+  if (!success) {
     AWARN << "LocalizationLidar: Fail to load the lidar"
              " height file: "
           << lidar_height_file_ << " Will use default value!";
@@ -312,7 +312,7 @@ bool LocalizationLidarProcess::GetPredictPose(const double lidar_time,
 
   if (state < 0) {
     AINFO << "LocalizationLidar GetPredictPose: "
-          << "Recive a lidar msg, but can't query predict pose.";
+          << "Receive a lidar msg, but can't query predict pose.";
     *forecast_state = ForecastState::NOT_VALID;
     return false;
   }

modules/localization/msf/local_integ/measure_republish_process.cc

@@ -146,7 +146,7 @@ bool MeasureRepublishProcess::NovatelBestgnssposProcess(
 
   // If sins is align, we only need measure of xyz from bestgnsspos.
   // If sins is not align, in order to init sins, we need
-  // (1) send a initial measure of xyz; (2) send measure of xyz and velocity.
+  // (1) send an initial measure of xyz; (2) send measure of xyz and velocity.
   if (is_sins_align) {
     TransferXYZFromBestgnsspose(bestgnsspos_msg, measure);
   } else {

modules/localization/msf/local_map/base_map/base_map_cache.h

@@ -71,7 +71,7 @@ class LRUCache {
   int Capacity() { return capacity_; }
 
  protected:
-  /**@brief do something before remove a element from cache.
+  /**@brief do something before remove an element from cache.
    * Return true if the element can be removed. Return false if the element
    * can't be removed. Then the cache will try to find another element to
    * remove. */
@@ -80,7 +80,7 @@ class LRUCache {
  private:
   /**@brief The max caoacity of LRUCache. */
   int capacity_;
-  /**@brief Increse the search speed in queue. */
+  /**@brief Increase the search speed in queue. */
   std::map<Key, ListIterator> map_;
   /**@brief The least recently used queue. */
   std::list<std::pair<Key, Element *>> list_;
@@ -195,7 +195,7 @@ class MapNodeCacheL1 : public LRUCache<Key, MapNode> {
   explicit MapNodeCacheL1(int capacity) : LRUCache<Key, MapNode>(capacity) {}
 
  protected:
-  /**@brief do something before remove a element from cache.
+  /**@brief do something before remove an element from cache.
    * Return true if the element can be removed. Return false if the element
    * can't be removed. Then the cache will try to find another element to
    * remove. */
@@ -212,7 +212,7 @@ class MapNodeCacheL2 : public LRUCache<Key, MapNode> {
   explicit MapNodeCacheL2(int capacity) : LRUCache<Key, MapNode>(capacity) {}
 
  protected:
-  /**@brief do something before remove a element from cache.
+  /**@brief do something before remove an element from cache.
    * Return true if the element can be removed. Return false if the element
    * can't be removed. Then the cache will try to find another element to
    * remove. */

modules/localization/msf/local_map/lossless_map/lossless_map_matrix.h

@@ -90,7 +90,7 @@ struct LosslessMapCell {
   /**@brief Get the binary size of the object. */
   unsigned int GetBinarySize() const;
 
-  /**@brief Match a layer in the map cell given a altitude.
+  /**@brief Match a layer in the map cell given an altitude.
    * @return The valid layer ID is 1 ~ N (The layer 0 is the layer includes all
    * the samples). If there is no existing layer, return 0. */
   unsigned int GetLayerId(double altitude) const;

modules/localization/msf/local_map/ndt_map/ndt_map_matrix.h

@@ -82,7 +82,7 @@ class NdtMapSingleCell {
   Eigen::Matrix3f centroid_average_cov_;
   /**@brief the pose inverse covariance of the cell. */
   Eigen::Matrix3f centroid_icov_;
-  /**@brief the inverse covariance avaliable flag. */
+  /**@brief the inverse covariance available flag. */
   unsigned char is_icov_available_ = 0;
   /**@brief minimum number of points needed. */
   const unsigned int minimum_points_threshold_ = 6;

modules/localization/ndt/localization_pose_buffer.cc

@@ -46,7 +46,7 @@ void LocalizationPoseBuffer::UpdateLidarPose(
     ++used_buffer_size_;
     has_initialized_ = true;
   } else {
-    // add 10hz pose
+    // add 10Hz pose
     unsigned int empty_position =
         (head_index_ + used_buffer_size_) % s_buffer_size_;
     lidar_poses_[empty_position].locator_pose = locator_pose;

modules/localization/ndt/ndt_localization.cc

@@ -50,8 +50,8 @@ void NDTLocalization::Init() {
       FLAGS_map_dir + "/" + FLAGS_ndt_map_dir + "/" + FLAGS_local_map_name;
   AINFO << "map folder: " << map_path_;
   velodyne_extrinsic_ = Eigen::Affine3d::Identity();
-  bool sucess = LoadLidarExtrinsic(lidar_extrinsics_file, &velodyne_extrinsic_);
-  if (!sucess) {
+  bool success = LoadLidarExtrinsic(lidar_extrinsics_file, &velodyne_extrinsic_);
+  if (!success) {
     AERROR << "LocalizationLidar: Fail to access the lidar"
               " extrinsic file: "
            << lidar_extrinsics_file;
@@ -63,8 +63,8 @@ void NDTLocalization::Init() {
         << velodyne_extrinsic_.translation().z() << ", " << ext_quat.x() << ", "
         << ext_quat.y() << ", " << ext_quat.z() << ", " << ext_quat.w();
 
-  sucess = LoadLidarHeight(lidar_height_file, &lidar_height_);
-  if (!sucess) {
+  success = LoadLidarHeight(lidar_height_file, &lidar_height_);
+  if (!success) {
     AWARN << "LocalizationLidar: Fail to load the lidar"
              " height file: "
           << lidar_height_file << " Will use default value!";

modules/localization/ndt/ndt_locator/ndt_solver.h

@@ -254,7 +254,7 @@ class NormalDistributionsTransform {
                             Eigen::Matrix<double, 6, 1> *p,
                             bool ComputeHessian = true);
 
-  /**@brief Compute individual point contirbutions to derivatives of
+  /**@brief Compute individual point contributions to derivatives of
    * probability function w.r.t. the transformation vector. */
   double UpdateDerivatives(Eigen::Matrix<double, 6, 1> *score_gradient,
                            Eigen::Matrix<double, 6, 6> *hessian,
@@ -276,7 +276,7 @@ class NormalDistributionsTransform {
                       const PointCloudSource &trans_cloud,
                       Eigen::Matrix<double, 6, 1> *p);
 
-  /**@brief Compute individual point contirbutions to hessian of probability
+  /**@brief Compute individual point contributions to hessian of probability
    * function. */
   void UpdateHessian(Eigen::Matrix<double, 6, 6> *hessian,
                      const Eigen::Vector3d &x_trans,
@@ -302,14 +302,14 @@ class NormalDistributionsTransform {
                                double f_u, double g_u, double a_t, double f_t,
                                double g_t);
 
-  /**@brief Auxilary function used to determine endpoints of More-Thuente
+  /**@brief Auxiliary function used to determine endpoints of More-Thuente
    * interval. */
   inline double AuxilaryFunctionPsimt(double a, double f_a, double f_0,
                                       double g_0, double mu = 1.e-4) {
     return (f_a - f_0 - mu * g_0 * a);
   }
 
-  /**@brief Auxilary function derivative used to determine endpoints of
+  /**@brief Auxiliary function derivative used to determine endpoints of
    * More-Thuente interval. */
   inline double AuxilaryFunctionDpsimt(double g_a, double g_0,
                                        double mu = 1.e-4) {

modules/localization/ndt/ndt_locator/ndt_solver.hpp

@@ -312,7 +312,7 @@ void NormalDistributionsTransform<PointSource, PointTarget>::
   }
   loop_timer.End("Ndt loop.");
 
-  // Store transformation probability.  The realtive differences within each
+  // Store transformation probability.  The relative differences within each
   // scan registration are accurate but the normalization constants need to be
   // modified for it to be globally accurate
   trans_probability_ = score / static_cast<double>(input_->points.size());
@@ -345,7 +345,7 @@ NormalDistributionsTransform<PointSource, PointTarget>::ComputeDerivatives(
   for (size_t idx = 0; idx < input_->points.size(); idx++) {
     x_trans_pt = trans_cloud->points[idx];
 
-    // Find nieghbors (Radius search has been experimentally faster than
+    // Find neighbors (Radius search has been experimentally faster than
     // direct neighbor checking.
     std::vector<TargetGridLeafConstPtr> neighborhood;
     std::vector<float> distances;
@@ -502,7 +502,7 @@ NormalDistributionsTransform<PointSource, PointTarget>::UpdateDerivatives(
   // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson
   // 2009]
   double e_x_cov_x = exp(-gauss_d2_ * x_trans.dot(c_inv * x_trans) / 2);
-  // Calculate probability of transtormed points existance, Equation 6.9
+  // Calculate probability of transtormed points existence, Equation 6.9
   // [Magnusson 2009]
   double score_inc = -gauss_d1_ * e_x_cov_x;
 
@@ -562,7 +562,7 @@ void NormalDistributionsTransform<PointSource, PointTarget>::ComputeHessian(
   for (size_t idx = 0; idx < input_->points.size(); idx++) {
     x_trans_pt = trans_cloud.points[idx];
 
-    // Find nieghbors (Radius search has been experimentally faster than
+    // Find neighbors (Radius search has been experimentally faster than
     // direct neighbor checking.
     std::vector<TargetGridLeafConstPtr> neighborhood;
     std::vector<float> distances;
@@ -833,7 +833,7 @@ NormalDistributionsTransform<PointSource, PointTarget>::ComputeStepLengthMt(
   while (!interval_converged && step_iterations < max_step_iterations &&
          !(psi_t <= 0 /*Sufficient Decrease*/ &&
            d_phi_t <= -nu * d_phi_0 /*Curvature Condition*/)) {
-    // Use auxilary function if interval I is not closed
+    // Use auxiliary function if interval I is not closed
     if (open_interval) {
       a_t = TrialValueSelectionMt(a_l, f_l, g_l, a_u, f_u, g_u, a_t, psi_t,
                                   d_psi_t);

modules/localization/ndt/ndt_locator/ndt_voxel_grid_covariance.h

@@ -95,7 +95,7 @@ typedef Leaf *LeafPtr;
 /**@brief Const pointer to VoxelGridCovariance leaf structure */
 typedef const Leaf *LeafConstPtr;
 
-/**@brief A searchable voxel strucure containing the mean and covariance of the
+/**@brief A searchable voxel structure containing the mean and covariance of the
  * data. */
 template <typename PointT>
 class VoxelGridCovariance {
@@ -253,7 +253,7 @@ class VoxelGridCovariance {
   }
 
  protected:
-  /**@brief Minimum points contained with in a voxel to allow it to be useable.
+  /**@brief Minimum points contained with in a voxel to allow it to be usable.
    */
   int min_points_per_voxel_;
 
@@ -261,7 +261,7 @@ class VoxelGridCovariance {
    * less than a sufficient number of points). */
   std::map<size_t, Leaf> leaves_;
 
-  /**@brief Point cloud containing centroids of voxels containing atleast
+  /**@brief Point cloud containing centroids of voxels containing at least
    * minimum number of points. */
   PointCloudPtr voxel_centroids_;
 

modules/localization/rtk/rtk_localization_test.cc

@@ -41,7 +41,7 @@ class RTKLocalizationTest : public ::testing::Test {
 };
 
 TEST_F(RTKLocalizationTest, InterpolateIMU) {
-  // timestamp inbetween + time_diff is big enough(>0.001), interpolate
+  // timestamp in between + time_diff is big enough(>0.001), interpolate
   {
     apollo::localization::CorrectedImu imu1;
     load_data("modules/localization/testdata/1_imu_1.pb.txt", &imu1);
@@ -60,7 +60,7 @@ TEST_F(RTKLocalizationTest, InterpolateIMU) {
     EXPECT_EQ(expected_result.DebugString(), imu.DebugString());
   }
 
-  // timestamp inbetween + time_diff is too small(<0.001), no interpolate
+  // timestamp in between + time_diff is too small(<0.001), no interpolate
   {
     apollo::localization::CorrectedImu imu1;
     load_data("modules/localization/testdata/2_imu_1.pb.txt", &imu1);