Planning : fix open space planner lint

xczhanjun · Aug 28, 2018 · db7c940 · db7c940
1 parent d0518e3
commit db7c940
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Showing 3 changed files with 11 additions and 5 deletions.
diff --git a/modules/planning/planner/open_space/distance_approach_ipopt_interface.cc b/modules/planning/planner/open_space/distance_approach_ipopt_interface.cc
@@ -164,7 +164,7 @@ bool DistanceApproachIPOPTInterface::get_bounds_info(int n, double* x_l,
   for (std::size_t i = 1; i <= horizon_ + 1; ++i) {
     for (std::size_t j = 1; j <= vObsum_; ++j) {
       x_l[i * vObsum_ + j] = 0.0;
-      // TODO:(QiL) refine this variables limits
+      // TODO(QiL): refine this variables limits
       x_u[i * vObsum_ + j] = 100.0;
 
       ++variable_index;
@@ -177,7 +177,7 @@ bool DistanceApproachIPOPTInterface::get_bounds_info(int n, double* x_l,
   for (std::size_t i = 1; i <= horizon_ + 1; ++i) {
     for (std::size_t j = 1; j <= 4 * nOb_; ++j) {
       x_l[i * 4 * nOb_ + j] = 0.0;
-      // TODO:(QiL) refine this variables limits
+      // TODO(QiL): refine this variables limits
       x_u[i * 4 * nOb_ + j] = 100.0;
 
       ++variable_index;

diff --git a/modules/planning/planner/open_space/open_space_planner.cc b/modules/planning/planner/open_space/open_space_planner.cc
@@ -153,7 +153,8 @@ apollo::common::Status OpenSpacePlanner::Plan(
                   "Distance approach problem failed to solve");
   }
 
-  // TODO(QiL): Step 9 : Publish trajectoryPoint in planning trajectory
+  // TODO(QiL): Step 9 : Publish trajectoryPoint in planning trajectory, i.e.
+  // Fullfil frame.
   return Status::OK();
 }
 
@@ -174,8 +175,8 @@ Status ObsHRep(const std::size_t& nOb, const Eigen::MatrixXd& vOb,
   // start building H representation
   // TODO(QiL) : Add basic sanity check for H representation.
   for (std::size_t i = 1; i != nOb; ++i) {
-    Eigen::MatrixXd A_i(int(vOb(i - 1, 0)), 2);
-    Eigen::MatrixXd b_i(int(vOb(i - 1, 0)), 1);
+    Eigen::MatrixXd A_i(static_cast<int>(vOb(i - 1, 0)), 2);
+    Eigen::MatrixXd b_i(static_cast<int>(vOb(i - 1, 0)), 1);
 
     // take two subsequent vertices, and computer hyperplane
     for (int j = 1; j != vOb(i, 1); ++j) {

diff --git a/modules/planning/planner/open_space/open_space_planner.h b/modules/planning/planner/open_space/open_space_planner.h
@@ -28,6 +28,11 @@
 #include "modules/planning/planner/planner.h"
 #include "modules/planning/proto/planning_config.pb.h"
 
+/*
+Initially inspired by "Optimization-Based Collision Avoidance" from Xiaojing
+Zhanga , Alexander Linigerb and Francesco Borrellia
+*/
+
 /**
  * @namespace apollo::planning
  * @brief apollo::planning