Prediction: move a gflag to a constant in prioritization

seekme-ai · Nov 8, 2019 · 96f2bab · 96f2bab
1 parent a1cda72
commit 96f2bab
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Showing 3 changed files with 9 additions and 10 deletions.
diff --git a/modules/prediction/common/prediction_gflags.cc b/modules/prediction/common/prediction_gflags.cc
@@ -76,8 +76,6 @@ DEFINE_double(caution_search_distance_backward_for_overlap, 30.0,
               "in the case of overlap");
 DEFINE_double(caution_pedestrian_approach_time, 3.0,
               "The time for a pedestrian to approach adc trajectory");
-DEFINE_double(caution_distance_threshold, 60.0,
-              "The distance threshold for obstacles to be caution");
 
 // Obstacle features
 DEFINE_int32(ego_vehicle_id, -1, "The obstacle ID of the ego vehicle.");

diff --git a/modules/prediction/common/prediction_gflags.h b/modules/prediction/common/prediction_gflags.h
@@ -54,7 +54,6 @@ DECLARE_double(caution_search_distance_backward);
 DECLARE_double(caution_search_distance_backward_for_merge);
 DECLARE_double(caution_search_distance_backward_for_overlap);
 DECLARE_double(caution_pedestrian_approach_time);
-DECLARE_double(caution_distance_threshold);
 
 // Obstacle features
 DECLARE_int32(ego_vehicle_id);

diff --git a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
@@ -42,6 +42,8 @@ using hdmap::LaneInfo;
 using hdmap::OverlapInfo;
 using ConstLaneInfoPtr = std::shared_ptr<const LaneInfo>;
 
+constexpr double kCautionDistanceThreshold = 60.0;
+
 namespace {
 
 bool IsLaneSequenceInReferenceLine(
@@ -214,7 +216,7 @@ void ObstaclesPrioritizer::AssignCautionLevelInJunction(
       continue;
     }
     if (obstacle_ptr->IsInJunction(curr_junction_id)) {
-      SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+      SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                              obstacle_ptr);
     }
   }
@@ -236,7 +238,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseKeepLane(
       AERROR << "Obstacle [" << nearest_front_obstacle_id << "] Not found";
       continue;
     }
-    SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+    SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                            obstacle_ptr);
   }
 }
@@ -261,7 +263,7 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseChangeLane(
         AERROR << "Obstacle [" << nearest_front_obstacle_id << "] Not found";
         continue;
       }
-      SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+      SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                              obstacle_ptr);
     } else if (IsLaneSequenceInReferenceLine(lane_sequence,
                                              ego_trajectory_container)) {
@@ -273,15 +275,15 @@ void ObstaclesPrioritizer::AssignCautionLevelCruiseChangeLane(
         Obstacle* front_obstacle_ptr =
             obstacles_container->GetObstacle(nearest_front_obstacle_id);
         if (front_obstacle_ptr != nullptr) {
-          SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+          SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                                  front_obstacle_ptr);
         }
       }
       if (nearest_backward_obstacle_id >= 0) {
         Obstacle* backward_obstacle_ptr =
             obstacles_container->GetObstacle(nearest_backward_obstacle_id);
         if (backward_obstacle_ptr != nullptr) {
-          SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+          SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                                  backward_obstacle_ptr);
         }
       }
@@ -414,7 +416,7 @@ void ObstaclesPrioritizer::AssignCautionLevelByEgoReferenceLine(
         if (std::fabs(start_l) < FLAGS_pedestrian_nearby_lane_search_radius ||
             std::fabs(end_l) < FLAGS_pedestrian_nearby_lane_search_radius ||
             start_l * end_l < 0.0) {
-          SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+          SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                                  obstacle_ptr);
         }
       }
@@ -509,7 +511,7 @@ void ObstaclesPrioritizer::SetCautionBackward(
         AERROR << "Obstacle [" << obstacle_id << "] Not found";
         continue;
       }
-      SetCautionIfCloseToEgo(ego_vehicle, FLAGS_caution_distance_threshold,
+      SetCautionIfCloseToEgo(ego_vehicle, kCautionDistanceThreshold,
                              obstacle_ptr);
       continue;
     }