Perception: remove "using" in header files

gezp · Jul 21, 2020 · d53f2a8 · d53f2a8
1 parent 8602c01
commit d53f2a8
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Showing 7 changed files with 26 additions and 24 deletions.
diff --git a/modules/perception/common/geometry/common.h b/modules/perception/common/geometry/common.h
@@ -25,8 +25,6 @@
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/point_cloud.h"
 
-using apollo::common::EigenVector;
-
 namespace apollo {
 namespace perception {
 namespace common {
@@ -313,8 +311,8 @@ void CalculateDistAndDirToBoundary(
 template <typename PointT>
 void CalculateDistAndDirToBoundary(
     const Eigen::Matrix<typename PointT::Type, 3, 1> &pt,
-    const EigenVector<base::PointCloud<PointT>> &left_boundary,
-    const EigenVector<base::PointCloud<PointT>> &right_boundary,
+    const apollo::common::EigenVector<base::PointCloud<PointT>> &left_boundary,
+    const apollo::common::EigenVector<base::PointCloud<PointT>> &right_boundary,
     typename PointT::Type *dist,
     Eigen::Matrix<typename PointT::Type, 3, 1> *dir) {
   using Type = typename PointT::Type;

diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc b/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc
@@ -26,6 +26,9 @@ namespace apollo {
 namespace perception {
 namespace lidar {
 
+using apollo::common::EigenMap;
+using apollo::common::EigenVector;
+
 using ObjectPtr = std::shared_ptr<apollo::perception::base::Object>;
 using apollo::cyber::common::GetAbsolutePath;
 using apollo::perception::base::ObjectType;

diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.h b/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.h
@@ -24,9 +24,6 @@
 #include "modules/perception/lidar/lib/classifier/fused_classifier/type_fusion_interface.h"
 #include "modules/perception/lidar/lib/classifier/fused_classifier/util.h"
 
-using apollo::common::EigenMap;
-using apollo::common::EigenVector;
-
 namespace apollo {
 namespace perception {
 namespace lidar {
@@ -44,7 +41,7 @@ class CCRFOneShotTypeFusion : public BaseOneShotTypeFusion {
       Vectord* log_prob);
 
  protected:
-  EigenMap<std::string, Matrixd> smooth_matrices_;
+  apollo::common::EigenMap<std::string, Matrixd> smooth_matrices_;
   Matrixd confidence_smooth_matrix_;
 };
 
@@ -81,9 +78,9 @@ class CCRFSequenceTypeFusion : public BaseSequenceTypeFusion {
   Matrixd transition_matrix_;
 
   // data member for window inference version
-  EigenVector<Vectord> fused_oneshot_probs_;
-  EigenVector<Vectord> fused_sequence_probs_;
-  EigenVector<Vectori> state_back_trace_;
+  apollo::common::EigenVector<Vectord> fused_oneshot_probs_;
+  apollo::common::EigenVector<Vectord> fused_sequence_probs_;
+  apollo::common::EigenVector<Vectori> state_back_trace_;
 
  protected:
   double s_alpha_ = 1.8;

diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/util.cc b/modules/perception/lidar/lib/classifier/fused_classifier/util.cc
@@ -21,6 +21,7 @@ namespace perception {
 namespace lidar {
 namespace util {
 
+using apollo::common::EigenMap;
 using apollo::perception::base::ObjectType;
 
 void FromStdToVector(const std::vector<float>& src_prob, Vectord* dst_prob) {

diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/util.h b/modules/perception/lidar/lib/classifier/fused_classifier/util.h
@@ -26,8 +26,6 @@
 #include "modules/common/util/eigen_defs.h"
 #include "modules/perception/base/object_types.h"
 
-using apollo::common::EigenMap;
-
 namespace apollo {
 namespace perception {
 namespace lidar {
@@ -61,7 +59,8 @@ bool LoadSingleMatrix(std::ifstream& fin, Matrixd* matrix);
 bool LoadSingleMatrixFile(const std::string& filename, Matrixd* matrix);
 
 bool LoadMultipleMatricesFile(
-    const std::string& filename, EigenMap<std::string, Matrixd>* matrices);
+    const std::string& filename,
+    apollo::common::EigenMap<std::string, Matrixd>* matrices);
 
 }  // namespace util
 }  // namespace lidar

diff --git a/modules/perception/map/hdmap/hdmap_input.cc b/modules/perception/map/hdmap/hdmap_input.cc
@@ -29,6 +29,7 @@ namespace apollo {
 namespace perception {
 namespace map {
 
+using apollo::common::EigenVector;
 using apollo::common::math::Polygon2d;
 using apollo::common::math::Vec2d;
 using apollo::hdmap::JunctionInfoConstPtr;

diff --git a/modules/perception/map/hdmap/hdmap_input.h b/modules/perception/map/hdmap/hdmap_input.h
@@ -27,8 +27,6 @@
 #include "modules/perception/base/hdmap_struct.h"
 #include "modules/perception/lib/thread/mutex.h"
 
-using apollo::common::EigenVector;
-
 namespace apollo {
 namespace perception {
 namespace map {
@@ -52,23 +50,28 @@ class HDMapInput {
   void MergeBoundaryJunction(
       const std::vector<apollo::hdmap::RoadRoiPtr>& boundary,
       const std::vector<apollo::hdmap::JunctionInfoConstPtr>& junctions,
-      EigenVector<base::RoadBoundary>* road_boundaries_ptr,
-      EigenVector<base::PointCloud<base::PointD>>* road_polygons_ptr,
-      EigenVector<base::PointCloud<base::PointD>>* junction_polygons_ptr);
+      apollo::common::EigenVector<base::RoadBoundary>* road_boundaries_ptr,
+      apollo::common::EigenVector<base::PointCloud<base::PointD>>*
+          road_polygons_ptr,
+      apollo::common::EigenVector<base::PointCloud<base::PointD>>*
+          junction_polygons_ptr);
 
   bool GetRoadBoundaryFilteredByJunctions(
-      const EigenVector<base::RoadBoundary>& road_boundaries,
-      const EigenVector<base::PointCloud<base::PointD>>& junctions,
-      EigenVector<base::RoadBoundary>* flt_road_boundaries_ptr);
+      const apollo::common::EigenVector<base::RoadBoundary>& road_boundaries,
+      const apollo::common::EigenVector<base::PointCloud<base::PointD>>&
+          junctions,
+      apollo::common::EigenVector<base::RoadBoundary>* flt_road_boundaries_ptr);
 
   void DownsamplePoints(const base::PointDCloudPtr& raw_cloud_ptr,
                         base::PointCloud<base::PointD>* polygon_ptr,
                         size_t min_points_num_for_sample = 15) const;
 
   void SplitBoundary(
       const base::PointCloud<base::PointD>& boundary_line,
-      const EigenVector<base::PointCloud<base::PointD>>& junctions,
-      EigenVector<base::PointCloud<base::PointD>>* boundary_line_vec_ptr);
+      const apollo::common::EigenVector<base::PointCloud<base::PointD>>&
+          junctions,
+      apollo::common::EigenVector<base::PointCloud<base::PointD>>*
+          boundary_line_vec_ptr);
 
   bool GetSignalsFromHDMap(const Eigen::Vector3d& pointd,
                            double forward_distance,