{"action":"created","comment":{"url":"https://api.github.com/repos/ApolloAuto/apollo/pulls/comments/181925990","pull_request_review_id":112636068,"id":181925990,"diff_hunk":"@@ -37,126 +37,6 @@ using common::SpeedPoint;\n using common::TrajectoryPoint;\n using common::adapter::AdapterManager;\n \n-PathPoint Interpolate(const PathPoint &p0, const PathPoint &p1,\n-                      const double s) {\n-  double s0 = p0.s();\n-  double s1 = p1.s();\n-  CHECK(s0 <= s && s <= s1);\n-\n-  double theta_diff = common::math::NormalizeAngle(p1.theta() - p0.theta());\n-\n-  std::array<double, 3> gx0{{0.0, p0.kappa(), p0.dkappa()}};\n-  std::array<double, 3> gx1{{theta_diff, p1.kappa(), p1.dkappa()}};\n-\n-  HermiteSpline<double, 5> geometry_spline(gx0, gx1, s0, s1);\n-  auto func_cos_theta = [&geometry_spline, &p0](const double s) {\n-    auto theta = geometry_spline.Evaluate(0, s) + p0.theta();\n-    return std::cos(theta);\n-  };\n-  auto func_sin_theta = [&geometry_spline, &p0](const double s) {\n-    auto theta = geometry_spline.Evaluate(0, s) + p0.theta();\n-    return std::sin(theta);\n-  };\n-\n-  double x =\n-      p0.x() + common::math::IntegrateByGaussLegendre<5>(func_cos_theta, s0, s);\n-  double y =\n-      p0.y() + common::math::IntegrateByGaussLegendre<5>(func_sin_theta, s0, s);\n-  double theta =\n-      common::math::NormalizeAngle(geometry_spline.Evaluate(0, s) + p0.theta());\n-  double kappa = geometry_spline.Evaluate(1, s);\n-  double dkappa = geometry_spline.Evaluate(2, s);\n-  double d2kappa = geometry_spline.Evaluate(3, s);\n-\n-  PathPoint p;\n-  p.set_x(x);\n-  p.set_y(y);\n-  p.set_theta(theta);\n-  p.set_kappa(kappa);\n-  p.set_dkappa(dkappa);\n-  p.set_ddkappa(d2kappa);\n-  p.set_s(s);\n-  return p;\n-}\n-\n-TrajectoryPoint Interpolate(const TrajectoryPoint &tp0,\n-                            const TrajectoryPoint &tp1, const double t) {","path":"modules/planning/common/planning_util.cc","position":47,"original_position":47,"commit_id":"c51f1f7b6e41c43d25b5e43123c1e56af37e1141","original_commit_id":"c51f1f7b6e41c43d25b5e43123c1e56af37e1141","user":{"login":"YajiaZhang","id":4965458,"avatar_url":"https://avatars0.githubusercontent.com/u/4965458?v=4","gravatar_id":"","url":"https://api.github.com/users/YajiaZhang","html_url":"https://github.com/YajiaZhang","followers_url":"https://api.github.com/users/YajiaZhang/followers","following_url":"https://api.github.com/users/YajiaZhang/following{/other_user}","gists_url":"https://api.github.com/users/YajiaZhang/gists{/gist_id}","starred_url":"https://api.github.com/users/YajiaZhang/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/YajiaZhang/subscriptions","organizations_url":"https://api.github.com/users/YajiaZhang/orgs","repos_url":"https://api.github.com/users/YajiaZhang/repos","events_url":"https://api.github.com/users/YajiaZhang/events{/privacy}","received_events_url":"https://api.github.com/users/YajiaZhang/received_events","type":"User","site_admin":false},"body":"This function as well. ","created_at":"2018-04-17T00:51:07Z","updated_at":"2018-04-17T00:51:12Z","html_url":"https://github.com/ApolloAuto/apollo/pull/3906#discussion_r181925990","pull_request_url":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906","author_association":"CONTRIBUTOR","_links":{"self":{"href":"https://api.github.com/repos/ApolloAuto/apollo/pulls/comments/181925990"},"html":{"href":"https://github.com/ApolloAuto/apollo/pull/3906#discussion_r181925990"},"pull_request":{"href":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906"}}},"pull_request":{"url":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906","id":182021516,"html_url":"https://github.com/ApolloAuto/apollo/pull/3906","diff_url":"https://github.com/ApolloAuto/apollo/pull/3906.diff","patch_url":"https://github.com/ApolloAuto/apollo/pull/3906.patch","issue_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3906","number":3906,"state":"open","locked":false,"title":"Planning: use linear interpolation as default method.","user":{"login":"lianglia-apollo","id":29311964,"avatar_url":"https://avatars2.githubusercontent.com/u/29311964?v=4","gravatar_id":"","url":"https://api.github.com/users/lianglia-apollo","html_url":"https://github.com/lianglia-apollo","followers_url":"https://api.github.com/users/lianglia-apollo/followers","following_url":"https://api.github.com/users/lianglia-apollo/following{/other_user}","gists_url":"https://api.github.com/users/lianglia-apollo/gists{/gist_id}","starred_url":"https://api.github.com/users/lianglia-apollo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lianglia-apollo/subscriptions","organizations_url":"https://api.github.com/users/lianglia-apollo/orgs","repos_url":"https://api.github.com/users/lianglia-apollo/repos","events_url":"https://api.github.com/users/lianglia-apollo/events{/privacy}","received_events_url":"https://api.github.com/users/lianglia-apollo/received_events","type":"User","site_admin":false},"body":"","created_at":"2018-04-17T00:23:35Z","updated_at":"2018-04-17T00:51:12Z","closed_at":null,"merged_at":null,"merge_commit_sha":"0f897c1dec393ee2a74676174b2282d07800400a","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906/commits","review_comments_url":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906/comments","review_comment_url":"https://api.github.com/repos/ApolloAuto/apollo/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3906/comments","statuses_url":"https://api.github.com/repos/ApolloAuto/apollo/statuses/c51f1f7b6e41c43d25b5e43123c1e56af37e1141","head":{"label":"lianglia-apollo:bugfix-2","ref":"bugfix-2","sha":"c51f1f7b6e41c43d25b5e43123c1e56af37e1141","user":{"login":"lianglia-apollo","id":29311964,"avatar_url":"https://avatars2.githubusercontent.com/u/29311964?v=4","gravatar_id":"","url":"https://api.github.com/users/lianglia-apollo","html_url":"https://github.com/lianglia-apollo","followers_url":"https://api.github.com/users/lianglia-apollo/followers","following_url":"https://api.github.com/users/lianglia-apollo/following{/other_user}","gists_url":"https://api.github.com/users/lianglia-apollo/gists{/gist_id}","starred_url":"https://api.github.com/users/lianglia-apollo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lianglia-apollo/subscriptions","organizations_url":"https://api.github.com/users/lianglia-apollo/orgs","repos_url":"https://api.github.com/users/lianglia-apollo/repos","events_url":"https://api.github.com/users/lianglia-apollo/events{/privacy}","received_events_url":"https://api.github.com/users/lianglia-apollo/received_events","type":"User","site_admin":false},"repo":{"id":96257983,"name":"apollo","full_name":"lianglia-apollo/apollo","owner":{"login":"lianglia-apollo","id":29311964,"avatar_url":"https://avatars2.githubusercontent.com/u/29311964?v=4","gravatar_id":"","url":"https://api.github.com/users/lianglia-apollo","html_url":"https://github.com/lianglia-apollo","followers_url":"https://api.github.com/users/lianglia-apollo/followers","following_url":"https://api.github.com/users/lianglia-apollo/following{/other_user}","gists_url":"https://api.github.com/users/lianglia-apollo/gists{/gist_id}","starred_url":"https://api.github.com/users/lianglia-apollo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lianglia-apollo/subscriptions","organizations_url":"https://api.github.com/users/lianglia-apollo/orgs","repos_url":"https://api.github.com/users/lianglia-apollo/repos","events_url":"https://api.github.com/users/lianglia-apollo/events{/privacy}","received_events_url":"https://api.github.com/users/lianglia-apollo/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/lianglia-apollo/apollo","description":"An open autonomous driving platform","fork":true,"url":"https://api.github.com/repos/lianglia-apollo/apollo","forks_url":"https://api.github.com/repos/lianglia-apollo/apollo/forks","keys_url":"https://api.github.com/repos/lianglia-apollo/apollo/keys{/key_id}","collaborators_url":"https://api.github.com/repos/lianglia-apollo/apollo/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/lianglia-apollo/apollo/teams","hooks_url":"https://api.github.com/repos/lianglia-apollo/apollo/hooks","issue_events_url":"https://api.github.com/repos/lianglia-apollo/apollo/issues/events{/number}","events_url":"https://api.github.com/repos/lianglia-apollo/apollo/events","assignees_url":"https://api.github.com/repos/lianglia-apollo/apollo/assignees{/user}","branches_url":"https://api.github.com/repos/lianglia-apollo/apollo/branches{/branch}","tags_url":"https://api.github.com/repos/lianglia-apollo/apollo/tags","blobs_url":"https://api.github.com/repos/lianglia-apollo/apollo/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/lianglia-apollo/apollo/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/lianglia-apollo/apollo/git/refs{/sha}","trees_url":"https://api.github.com/repos/lianglia-apollo/apollo/git/trees{/sha}","statuses_url":"https://api.github.com/repos/lianglia-apollo/apollo/statuses/{sha}","languages_url":"https://api.github.com/repos/lianglia-apollo/apollo/languages","stargazers_url":"https://api.github.com/repos/lianglia-apollo/apollo/stargazers","contributors_url":"https://api.github.com/repos/lianglia-apollo/apollo/contributors","subscribers_url":"https://api.github.com/repos/lianglia-apollo/apollo/subscribers","subscription_url":"https://api.github.com/repos/lianglia-apollo/apollo/subscription","commits_url":"https://api.github.com/repos/lianglia-apollo/apollo/commits{/sha}","git_commits_url":"https://api.github.com/repos/lianglia-apollo/apollo/git/commits{/sha}","comments_url":"https://api.github.com/repos/lianglia-apollo/apollo/comments{/number}","issue_comment_url":"https://api.github.com/repos/lianglia-apollo/apollo/issues/comments{/number}","contents_url":"https://api.github.com/repos/lianglia-apollo/apollo/contents/{+path}","compare_url":"https://api.github.com/repos/lianglia-apollo/apollo/compare/{base}...{head}","merges_url":"https://api.github.com/repos/lianglia-apollo/apollo/merges","archive_url":"https://api.github.com/repos/lianglia-apollo/apollo/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/lianglia-apollo/apollo/downloads","issues_url":"https://api.github.com/repos/lianglia-apollo/apollo/issues{/number}","pulls_url":"https://api.github.com/repos/lianglia-apollo/apollo/pulls{/number}","milestones_url":"https://api.github.com/repos/lianglia-apollo/apollo/milestones{/number}","notifications_url":"https://api.github.com/repos/lianglia-apollo/apollo/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/lianglia-apollo/apollo/labels{/name}","releases_url":"https://api.github.com/repos/lianglia-apollo/apollo/releases{/id}","deployments_url":"https://api.github.com/repos/lianglia-apollo/apollo/deployments","created_at":"2017-07-04T22:55:38Z","updated_at":"2017-12-13T20:18:12Z","pushed_at":"2018-04-17T00:28:36Z","git_url":"git://github.com/lianglia-apollo/apollo.git","ssh_url":"git@github.com:lianglia-apollo/apollo.git","clone_url":"https://github.com/lianglia-apollo/apollo.git","svn_url":"https://github.com/lianglia-apollo/apollo","homepage":null,"size":390451,"stargazers_count":2,"watchers_count":2,"language":"C++","has_issues":false,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":1,"mirror_url":null,"archived":false,"open_issues_count":1,"license":{"key":"apache-2.0","name":"Apache License 2.0","spdx_id":"Apache-2.0","url":"https://api.github.com/licenses/apache-2.0"},"forks":1,"open_issues":1,"watchers":2,"default_branch":"master"}},"base":{"label":"ApolloAuto:master","ref":"master","sha":"04c26cf4a8918e4aad25114ef6716cbf0db16725","user":{"login":"ApolloAuto","id":28768304,"avatar_url":"https://avatars1.githubusercontent.com/u/28768304?v=4","gravatar_id":"","url":"https://api.github.com/users/ApolloAuto","html_url":"https://github.com/ApolloAuto","followers_url":"https://api.github.com/users/ApolloAuto/followers","following_url":"https://api.github.com/users/ApolloAuto/following{/other_user}","gists_url":"https://api.github.com/users/ApolloAuto/gists{/gist_id}","starred_url":"https://api.github.com/users/ApolloAuto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ApolloAuto/subscriptions","organizations_url":"https://api.github.com/users/ApolloAuto/orgs","repos_url":"https://api.github.com/users/ApolloAuto/repos","events_url":"https://api.github.com/users/ApolloAuto/events{/privacy}","received_events_url":"https://api.github.com/users/ApolloAuto/received_events","type":"Organization","site_admin":false},"repo":{"id":96246170,"name":"apollo","full_name":"ApolloAuto/apollo","owner":{"login":"ApolloAuto","id":28768304,"avatar_url":"https://avatars1.githubusercontent.com/u/28768304?v=4","gravatar_id":"","url":"https://api.github.com/users/ApolloAuto","html_url":"https://github.com/ApolloAuto","followers_url":"https://api.github.com/users/ApolloAuto/followers","following_url":"https://api.github.com/users/ApolloAuto/following{/other_user}","gists_url":"https://api.github.com/users/ApolloAuto/gists{/gist_id}","starred_url":"https://api.github.com/users/ApolloAuto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ApolloAuto/subscriptions","organizations_url":"https://api.github.com/users/ApolloAuto/orgs","repos_url":"https://api.github.com/users/ApolloAuto/repos","events_url":"https://api.github.com/users/ApolloAuto/events{/privacy}","received_events_url":"https://api.github.com/users/ApolloAuto/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ApolloAuto/apollo","description":"An open autonomous driving platform","fork":false,"url":"https://api.github.com/repos/ApolloAuto/apollo","forks_url":"https://api.github.com/repos/ApolloAuto/apollo/forks","keys_url":"https://api.github.com/repos/ApolloAuto/apollo/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ApolloAuto/apollo/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ApolloAuto/apollo/teams","hooks_url":"https://api.github.com/repos/ApolloAuto/apollo/hooks","issue_events_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/events{/number}","events_url":"https://api.github.com/repos/ApolloAuto/apollo/events","assignees_url":"https://api.github.com/repos/ApolloAuto/apollo/assignees{/user}","branches_url":"https://api.github.com/repos/ApolloAuto/apollo/branches{/branch}","tags_url":"https://api.github.com/repos/ApolloAuto/apollo/tags","blobs_url":"https://api.github.com/repos/ApolloAuto/apollo/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ApolloAuto/apollo/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ApolloAuto/apollo/git/refs{/sha}","trees_url":"https://api.github.com/repos/ApolloAuto/apollo/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ApolloAuto/apollo/statuses/{sha}","languages_url":"https://api.github.com/repos/ApolloAuto/apollo/languages","stargazers_url":"https://api.github.com/repos/ApolloAuto/apollo/stargazers","contributors_url":"https://api.github.com/repos/ApolloAuto/apollo/contributors","subscribers_url":"https://api.github.com/repos/ApolloAuto/apollo/subscribers","subscription_url":"https://api.github.com/repos/ApolloAuto/apollo/subscription","commits_url":"https://api.github.com/repos/ApolloAuto/apollo/commits{/sha}","git_commits_url":"https://api.github.com/repos/ApolloAuto/apollo/git/commits{/sha}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/comments{/number}","issue_comment_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/comments{/number}","contents_url":"https://api.github.com/repos/ApolloAuto/apollo/contents/{+path}","compare_url":"https://api.github.com/repos/ApolloAuto/apollo/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ApolloAuto/apollo/merges","archive_url":"https://api.github.com/repos/ApolloAuto/apollo/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ApolloAuto/apollo/downloads","issues_url":"https://api.github.com/repos/ApolloAuto/apollo/issues{/number}","pulls_url":"https://api.github.com/repos/ApolloAuto/apollo/pulls{/number}","milestones_url":"https://api.github.com/repos/ApolloAuto/apollo/milestones{/number}","notifications_url":"https://api.github.com/repos/ApolloAuto/apollo/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ApolloAuto/apollo/labels{/name}","releases_url":"https://api.github.com/repos/ApolloAuto/apollo/releases{/id}","deployments_url":"https://api.github.com/repos/ApolloAuto/apollo/deployments","created_at":"2017-07-04T19:03:31Z","updated_at":"2018-04-17T00:23:02Z","pushed_at":"2018-04-17T00:46:59Z","git_url":"git://github.com/ApolloAuto/apollo.git","ssh_url":"git@github.com:ApolloAuto/apollo.git","clone_url":"https://github.com/ApolloAuto/apollo.git","svn_url":"https://github.com/ApolloAuto/apollo","homepage":null,"size":390820,"stargazers_count":8641,"watchers_count":8641,"language":"C++","has_issues":true,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":2145,"mirror_url":null,"archived":false,"open_issues_count":157,"license":{"key":"apache-2.0","name":"Apache License 2.0","spdx_id":"Apache-2.0","url":"https://api.github.com/licenses/apache-2.0"},"forks":2145,"open_issues":157,"watchers":8641,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906"},"html":{"href":"https://github.com/ApolloAuto/apollo/pull/3906"},"issue":{"href":"https://api.github.com/repos/ApolloAuto/apollo/issues/3906"},"comments":{"href":"https://api.github.com/repos/ApolloAuto/apollo/issues/3906/comments"},"review_comments":{"href":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906/comments"},"review_comment":{"href":"https://api.github.com/repos/ApolloAuto/apollo/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ApolloAuto/apollo/pulls/3906/commits"},"statuses":{"href":"https://api.github.com/repos/ApolloAuto/apollo/statuses/c51f1f7b6e41c43d25b5e43123c1e56af37e1141"}},"author_association":"CONTRIBUTOR"}}
{"actor":{"display_login":"YajiaZhang"}}