apollo::perception::EvaluatorManager类 参考

#include <evaluator_manager.h>

apollo::perception::EvaluatorManager 的协作图:

Public 成员函数
	EvaluatorManager ()=default
virtual	~EvaluatorManager ()=default
	Destructor
void	Init ()
	Initialize
void	Run (ObstaclesContainer *obstacles_container)
	Run evaluators
void	EvaluateObstacle (Obstacle *obstacle, ObstaclesContainer *obstacles_container, std::vector< Obstacle * > dynamic_env)
	Evaluate obstacle
void	EvaluateObstacle (Obstacle *obstacle, ObstaclesContainer *obstacles_container)
	Evaluate obstacle

详细描述

在文件 evaluator_manager.h 第 46 行定义.

构造及析构函数说明

EvaluatorManager()

apollo::perception::EvaluatorManager::EvaluatorManager ( )

default

~EvaluatorManager()

virtual apollo::perception::EvaluatorManager::~EvaluatorManager ( )

virtualdefault

Destructor

成员函数说明

EvaluateObstacle() [1/2]

void apollo::perception::EvaluatorManager::EvaluateObstacle	(	Obstacle *	obstacle,
		ObstaclesContainer *	obstacles_container
	)

Evaluate obstacle

参数

obstacle	to evaluate
obstacles_container

在文件 evaluator_manager.cc 第 89 行定义.

                                                                 {
  std::vector<Obstacle*> dummy_dynamic_env;
  EvaluateObstacle(obstacle, obstacles_container, dummy_dynamic_env);
}

EvaluateObstacle() [2/2]

void apollo::perception::EvaluatorManager::EvaluateObstacle	(	Obstacle *	obstacle,
		ObstaclesContainer *	obstacles_container,
		std::vector< Obstacle * >	dynamic_env
	)

Evaluate obstacle

参数

obstacle	to evaluate
obstacles_container
dynamic_env

在文件 evaluator_manager.cc 第 75 行定义.

                                                                          {
  // Select different evaluators depending on the obstacle's type.
  switch (obstacle->type()) {
    case PerceptionObstacle::VEHICLE: {
      evaluator_->Evaluate(obstacle, obstacles_container);
      break;
    }
    default:
      break;
  }
}

Init()

void apollo::perception::EvaluatorManager::Init

(

)

Initialize

在文件 evaluator_manager.cc 第 50 行定义.

                            {
  semantic_map_.reset(new SemanticMap());
  semantic_map_->Init();
  evaluator_.reset(new SemanticLSTMEvaluator(semantic_map_.get()));
  AINFO << "Init SemanticMap instance.";
}

Run()

void apollo::perception::EvaluatorManager::Run

(

ObstaclesContainer *

obstacles_container

)

Run evaluators

参数

obstacles_container

在文件 evaluator_manager.cc 第 57 行定义.

                                                                  {
  BuildObstacleIdHistoryMap(obstacles_container);
  semantic_map_->RunCurrFrame(obstacle_id_history_map_);
  AINFO << "starting evaluating objects in semantic map";
  std::vector<Obstacle*> dynamic_env;
  for (int id : obstacles_container->curr_frame_considered_obstacle_ids()) {
    Obstacle* obstacle = obstacles_container->GetObstacle(id);
    if (obstacle == nullptr) {
      continue;
    }
    if (obstacle->IsStill()) {
      ADEBUG << "Ignore still obstacle [" << id << "] in evaluator_manager";
      continue;
    }
    EvaluateObstacle(obstacle, obstacles_container, dynamic_env);
  }
}

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该类的文档由以下文件生成:

• modules/perception/radar4d_detection/lib/tracker/semantic_map/evaluator_manager.h
• modules/perception/radar4d_detection/lib/tracker/semantic_map/evaluator_manager.cc