planning: remove output pointer check and use CHECK instead of CHECK_…

…NOTNULL
qxdxx · Dec 21, 2019 · e4b1499 · e4b1499
1 parent 9e99439
commit e4b1499
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Showing 4 changed files with 0 additions and 17 deletions.
diff --git a/modules/planning/navi/decider/navi_path_decider_test.cc b/modules/planning/navi/decider/navi_path_decider_test.cc
@@ -51,14 +51,11 @@ class NaviPathDeciderTest : public ::testing::Test {
   }
 
   static void InitPlannigConfig(PlanningConfig* const plannig_config) {
-    CHECK_NOTNULL(plannig_config);
     auto* navi_planner_config =
         plannig_config->mutable_navigation_planning_config()
             ->mutable_planner_navi_config();
-    CHECK_NOTNULL(navi_planner_config);
     auto* navi_path_decider_config =
         navi_planner_config->mutable_navi_path_decider_config();
-    CHECK_NOTNULL(navi_path_decider_config);
     navi_path_decider_config->set_min_path_length(5.0);
     navi_path_decider_config->set_min_look_forward_time(2.0);
     navi_path_decider_config->set_max_keep_lane_distance(0.4);
@@ -69,9 +66,7 @@ class NaviPathDeciderTest : public ::testing::Test {
     navi_path_decider_config->clear_move_dest_lane_config_talbe();
     auto* move_dest_lane_cfg_table =
         navi_path_decider_config->mutable_move_dest_lane_config_talbe();
-    CHECK_NOTNULL(move_dest_lane_cfg_table);
     auto* move_shift_config = move_dest_lane_cfg_table->add_lateral_shift();
-    CHECK_NOTNULL(move_shift_config);
     move_shift_config->set_max_speed(34);
     move_shift_config->set_max_move_dest_lane_shift_y(0.45);
   }

diff --git a/modules/planning/reference_line/reference_line.cc b/modules/planning/reference_line/reference_line.cc
@@ -377,7 +377,6 @@ ReferencePoint ReferenceLine::GetReferencePoint(const double x,
 
 bool ReferenceLine::SLToXY(const SLPoint& sl_point,
                            common::math::Vec2d* const xy_point) const {
-  CHECK_NOTNULL(xy_point);
   if (map_path_.num_points() < 2) {
     AERROR << "The reference line has too few points.";
     return false;
@@ -392,7 +391,6 @@ bool ReferenceLine::SLToXY(const SLPoint& sl_point,
 
 bool ReferenceLine::XYToSL(const common::math::Vec2d& xy_point,
                            SLPoint* const sl_point) const {
-  CHECK_NOTNULL(sl_point);
   double s = 0.0;
   double l = 0.0;
   if (!map_path_.GetProjection(xy_point, &s, &l)) {

diff --git a/modules/planning/tasks/deciders/speed_bounds_decider/st_boundary_mapper.cc b/modules/planning/tasks/deciders/speed_bounds_decider/st_boundary_mapper.cc
@@ -191,8 +191,6 @@ bool STBoundaryMapper::GetOverlapBoundaryPoints(
     std::vector<STPoint>* upper_points,
     std::vector<STPoint>* lower_points) const {
   // Sanity checks.
-  CHECK_NOTNULL(upper_points);
-  CHECK_NOTNULL(lower_points);
   DCHECK(upper_points->empty());
   DCHECK(lower_points->empty());
   DCHECK_GT(path_points.size(), 0);

diff --git a/modules/planning/tasks/deciders/speed_decider/speed_decider.cc b/modules/planning/tasks/deciders/speed_decider/speed_decider.cc
@@ -337,8 +337,6 @@ void SpeedDecider::AppendIgnoreDecision(Obstacle* obstacle) const {
 bool SpeedDecider::CreateStopDecision(const Obstacle& obstacle,
                                       ObjectDecisionType* const stop_decision,
                                       double stop_distance) const {
-  CHECK_NOTNULL(stop_decision);
-
   const auto& boundary = obstacle.path_st_boundary();
 
   // TODO(all): this is a bug! Cannot mix reference s and path s!
@@ -379,8 +377,6 @@ bool SpeedDecider::CreateStopDecision(const Obstacle& obstacle,
 
 bool SpeedDecider::CreateFollowDecision(
     const Obstacle& obstacle, ObjectDecisionType* const follow_decision) const {
-  CHECK_NOTNULL(follow_decision);
-
   const double follow_speed = init_point_.v();
   const double follow_distance_s =
       -StGapEstimator::EstimateProperFollowingGap(follow_speed);
@@ -415,8 +411,6 @@ bool SpeedDecider::CreateFollowDecision(
 
 bool SpeedDecider::CreateYieldDecision(
     const Obstacle& obstacle, ObjectDecisionType* const yield_decision) const {
-  CHECK_NOTNULL(yield_decision);
-
   PerceptionObstacle::Type obstacle_type = obstacle.Perception().type();
   double yield_distance = StGapEstimator::EstimateProperYieldingGap();
 
@@ -452,8 +446,6 @@ bool SpeedDecider::CreateYieldDecision(
 bool SpeedDecider::CreateOvertakeDecision(
     const Obstacle& obstacle,
     ObjectDecisionType* const overtake_decision) const {
-  CHECK_NOTNULL(overtake_decision);
-
   const auto& velocity = obstacle.Perception().velocity();
   const double obstacle_speed =
       common::math::Vec2d::CreateUnitVec2d(init_point_.path_point().theta())