Merge pull request #6 from lianglia-apollo/devel

enabled the qp_spline_st_speed_optimizer -- more changes.

.gitignore

 # Bazel
 bazel-apollo
+bazel-apollo_dev
 bazel-bin
 bazel-genfiles
 bazel-out

modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.h

@@ -37,11 +37,10 @@ class DpPolyPathOptimizer : public PathOptimizer {
   virtual bool Init() override;
 
  private:
-  apollo::common::Status Process(const SpeedData &speed_data,
-                                 const ReferenceLine &reference_line,
-                                 const common::TrajectoryPoint &init_point,
-                                 DecisionData *const decision_data,
-                                 PathData *const path_data) override;
+  virtual apollo::common::Status Process(
+      const SpeedData &speed_data, const ReferenceLine &reference_line,
+      const common::TrajectoryPoint &init_point,
+      DecisionData *const decision_data, PathData *const path_data) override;
 
  private:
   DpPolyPathConfig config_;

modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.cc

@@ -59,7 +59,7 @@ bool DpStSpeedOptimizer::Init() {
 Status DpStSpeedOptimizer::Process(const PathData& path_data,
                                    const TrajectoryPoint& init_point,
                                    DecisionData* const decision_data,
-                                   SpeedData* const speed_data) const {
+                                   SpeedData* const speed_data) {
   ::apollo::common::config::VehicleParam veh_param =
       VehicleConfigHelper::GetConfig().vehicle_param();
 

modules/planning/optimizer/dp_st_speed/dp_st_speed_optimizer.h

@@ -41,7 +41,7 @@ class DpStSpeedOptimizer : public SpeedOptimizer {
   virtual apollo::common::Status Process(const PathData& path_data,
                                          const TrajectoryPoint& init_point,
                                          DecisionData* const decision_data,
-                                         SpeedData* const speed_data) const;
+                                         SpeedData* const speed_data) override;
   StBoundaryConfig st_boundary_config_;
   DpStSpeedConfig dp_st_speed_config_;
 };

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc

@@ -61,7 +61,7 @@ bool QpSplineStSpeedOptimizer::Init() {
 Status QpSplineStSpeedOptimizer::Process(const PathData& path_data,
                                          const TrajectoryPoint& init_point,
                                          DecisionData* const decision_data,
-                                         SpeedData* const speed_data) const {
+                                         SpeedData* const speed_data) {
   if (!is_init_) {
     AERROR << "Please call Init() before Process.";
     return Status(ErrorCode::PLANNING_ERROR, "Not init.");

modules/planning/optimizer/qp_spline_st_speed/qp_spline_st_speed_optimizer.h

@@ -42,7 +42,7 @@ class QpSplineStSpeedOptimizer : public SpeedOptimizer {
   virtual common::Status Process(
       const PathData& path_data,
       const apollo::common::TrajectoryPoint& init_point,
-      DecisionData* const decision_data, SpeedData* const speed_data) const;
+      DecisionData* const decision_data, SpeedData* const speed_data) override;
   StBoundaryConfig st_boundary_config_;
   QpSplineStSpeedConfig qp_spline_st_speed_config_;
 };

modules/planning/optimizer/speed_optimizer.h

@@ -41,7 +41,7 @@ class SpeedOptimizer : public Optimizer {
   virtual apollo::common::Status Process(const PathData& path_data,
                                          const TrajectoryPoint& init_point,
                                          DecisionData* const decision_data,
-                                         SpeedData* const speed_data) const = 0;
+                                         SpeedData* const speed_data) = 0;
 };
 
 }  // namespace planning