common: fixed a couple of problems due to code migration

Author: YajiaZhang

modules/common/math/BUILD

@@ -186,6 +186,22 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "nonlinear_interpolation",
+    srcs = [
+        "nonlinear_interpolation.cc",
+    ],
+    hdrs = [
+        "nonlinear_interpolation.h",
+    ],
+    deps = [
+        ":geometry",
+        ":hermite_spline",
+        ":integral",
+        "//modules/common/proto:pnc_point_proto",
+    ],
+)
+
 cc_library(
     name = "integral",
     srcs = [
@@ -244,6 +260,16 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "hermite_spline",
+    hdrs = [
+        "hermite_spline.h",
+    ],
+    deps = [
+        "//modules/common:log",
+    ],
+)
+
 cc_test(
     name = "mpc_test",
     size = "small",

modules/planning/math/hermite_spline.h renamed to modules/common/math/hermite_spline.h

@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -18,16 +18,17 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
-#define MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
+#ifndef MODULES_COMMON_MATH_HERMITE_SPLINE_H_
+#define MODULES_COMMON_MATH_HERMITE_SPLINE_H_
 
 #include <array>
 #include <utility>
 
 #include "modules/common/log.h"
 
 namespace apollo {
-namespace planning {
+namespace common {
+namespace math {
 
 // Hermite spline implementation that works for 1d and 2d space interpolation.
 // Valid input type T: double, Eigen::Vector2d
@@ -200,7 +201,8 @@ inline T HermiteSpline<T, N>::Evaluate(const std::uint32_t order,
   return T();
 }
 
-}  // namespace planning
+}  // namespace math
+}  // namespace common
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_MATH_HERMITE_SPLINE_H_
+#endif  // MODULES_COMMON_MATH_HERMITE_SPLINE_H_

modules/common/math/polynomial_interpolation.cc renamed to modules/common/math/nonlinear_interpolation.cc

@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -13,20 +13,21 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-
-#include "modules/common/math/polynomial_interpolation.h"
+#include "modules/common/math/nonlinear_interpolation.h"
 
 #include <cmath>
 
 #include "modules/common/log.h"
+#include "modules/common/math/hermite_spline.h"
+#include "modules/common/math/integral.h"
 #include "modules/common/math/math_utils.h"
 
 namespace apollo {
 namespace common {
 namespace math {
 
-PathPoint PolynomialInterpolate(const PathPoint &p0, const PathPoint &p1,
-                                const double s) {
+PathPoint SplineInterpolate(const PathPoint &p0, const PathPoint &p1,
+                            const double s) {
   double s0 = p0.s();
   double s1 = p1.s();
   CHECK(s0 <= s && s <= s1);
@@ -64,9 +65,9 @@ PathPoint PolynomialInterpolate(const PathPoint &p0, const PathPoint &p1,
   return p;
 }
 
-TrajectoryPoint PolynomialInterpolate(const TrajectoryPoint &tp0,
-                                      const TrajectoryPoint &tp1,
-                                      const double t) {
+TrajectoryPoint SplineInterpolate(const TrajectoryPoint &tp0,
+                                  const TrajectoryPoint &tp1,
+                                  const double t) {
   if (std::fabs(tp1.path_point().s() - tp0.path_point().s()) < 1.0e-4) {
     return tp1;
   }

modules/common/math/polynomial_interpolation.h renamed to modules/common/math/nonlinear_interpolation.h

@@ -1,5 +1,5 @@
 /******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -16,33 +16,32 @@
 
 /**
  * @file
- * @brief Linear interpolation functions.
+ * @brief Nonlinear interpolation functions.
  */
 
-#ifndef MODULES_COMMON_MATH_LINEAR_INTERPOLATION_H_
-#define MODULES_COMMON_MATH_LINEAR_INTERPOLATION_H_
+#ifndef MODULES_COMMON_MATH_NONLINEAR_INTERPOLATION_H_
+#define MODULES_COMMON_MATH_NONLINEAR_INTERPOLATION_H_
 
-#include <cmath>
-
-#include "modules/common/log.h"
 #include "modules/common/proto/pnc_point.pb.h"
 
 /**
  * @namespace apollo::common::math
  * @brief apollo::common::math
  */
+
 namespace apollo {
 namespace common {
 namespace math {
 
-SLPoint PolynomialInterpolate(const SLPoint &start, const SLPoint &end,
-                              const double weight);
+PathPoint SplineInterpolate(const PathPoint &p0, const PathPoint &p1,
+                            const double s);
 
-PathPoint PolynomialInterpolate(const PathPoint &p0, const PathPoint &p1,
-                                const double s);
+TrajectoryPoint SplineInterpolate(const TrajectoryPoint &tp0,
+                                  const TrajectoryPoint &tp1,
+                                  const double t);
 
 }  // namespace math
 }  // namespace common
 }  // namespace apollo
 
-#endif  // MODULES_COMMON_MATH_LINEAR_INTERPOLATION_H_
+#endif  // MODULES_COMMON_MATH_NONLINEAR_INTERPOLATION_H_

modules/planning/common/BUILD

@@ -137,9 +137,6 @@ cc_library(
     deps = [
         ":planning_gflags",
         "//modules/common/adapters:adapter_manager",
-        "//modules/common/math",
-        "//modules/common/proto:pnc_point_proto",
-        "//modules/planning/math:hermite_spline",
         "//modules/planning/proto:planning_proto",
         "//modules/planning/proto:planning_status_proto",
     ],

modules/planning/common/planning_util.cc

@@ -16,25 +16,13 @@
 
 #include "modules/planning/common/planning_util.h"
 
-#include <array>
-#include <cmath>
-#include <memory>
-#include <utility>
-
 #include "modules/common/adapters/adapter_manager.h"
-#include "modules/common/math/integral.h"
-#include "modules/common/math/linear_interpolation.h"
-#include "modules/common/math/math_utils.h"
 #include "modules/planning/common/planning_gflags.h"
-#include "modules/planning/math/hermite_spline.h"
 
 namespace apollo {
 namespace planning {
 namespace util {
 
-using common::PathPoint;
-using common::SpeedPoint;
-using common::TrajectoryPoint;
 using common::adapter::AdapterManager;
 
 PlanningStatus *GetPlanningStatus() {

modules/planning/math/BUILD

@@ -37,14 +37,4 @@ cc_library(
     ],
 )
 
-cc_library(
-    name = "hermite_spline",
-    hdrs = [
-        "hermite_spline.h",
-    ],
-    deps = [
-        "//modules/common:log",
-    ],
-)
-
 cpplint()