planning: removed forward decleration in speed_optimizer.h

modules/planning/optimizer/qp_spline_path/qp_frenet_frame.cc

@@ -38,9 +38,7 @@ namespace planning {
 using common::SpeedPoint;
 using ConstPathObstacleList = std::vector<const PathObstacle*>;
 
-namespace {
 constexpr double kEpsilontol = 1e-6;
-}
 
 QpFrenetFrame::QpFrenetFrame(const ReferenceLine& reference_line,
                              const ConstPathObstacleList& path_obstacles,
@@ -66,13 +64,14 @@ bool QpFrenetFrame::Init(const uint32_t num_points) {
     return false;
   }
 
-  const double resolution = (end_s_ - start_s_) / num_points;
   if (Double::Compare(start_s_, end_s_, 1e-8) > 0) {
     AERROR << "Not enough s distance. start_s: " << start_s_
            << ", end_s: " << end_s_;
     return false;
   }
 
+  const double resolution = (end_s_ - start_s_) / num_points;
+
   if (!CalculateDiscretizedVehicleLocation()) {
     AERROR << "Fail to calculate discretized vehicle location!";
     return false;

modules/planning/optimizer/qp_spline_path/qp_spline_path_generator.cc

@@ -124,14 +124,14 @@ bool QpSplinePathGenerator::Generate(
     Eigen::Vector2d xy_point =
         CartesianFrenetConverter::CalculateCartesianPoint(
             ref_point.heading(), {ref_point.x(), ref_point.y()}, l);
-    xy_point[0] = xy_point.x() - x_diff;
-    xy_point[1] = xy_point.y() - y_diff;
+    xy_point[0] = xy_point[0] - x_diff;
+    xy_point[1] = xy_point[1] - y_diff;
     double theta = CartesianFrenetConverter::CalculateTheta(
         ref_point.heading(), ref_point.kappa(), l, dl);
     double kappa = CartesianFrenetConverter::CalculateKappa(
         ref_point.kappa(), ref_point.dkappa(), l, dl, ddl);
     common::PathPoint path_point = common::util::MakePathPoint(
-        xy_point.x(), xy_point.y(), 0.0, theta, kappa, 0.0, 0.0);
+        xy_point[0], xy_point[1], 0.0, theta, kappa, 0.0, 0.0);
     if (path_points.size() != 0) {
       double distance =
           common::util::Distance2D(path_points.back(), path_point);

modules/planning/optimizer/speed_optimizer.h

@@ -24,6 +24,8 @@
 #include <string>
 #include <vector>
 
+#include "modules/planning/common/speed_limit.h"
+#include "modules/planning/common/speed/speed_data.h"
 #include "modules/planning/optimizer/optimizer.h"
 
 #include "modules/common/status/status.h"
@@ -32,9 +34,6 @@
 namespace apollo {
 namespace planning {
 
-class SpeedLimit;
-class SpeedData;
-
 class SpeedOptimizer : public Optimizer {
  public:
   explicit SpeedOptimizer(const std::string& name);