cruise_mlp_evaluator.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <string>
#include <vector>
 
#include "torch/script.h"
#include "torch/torch.h"
 
#include "modules/prediction/evaluator/evaluator.h"
 
#include "modules/prediction/container/obstacles/obstacles_container.h"
 
namespace apollo {
namespace prediction {
 
class CruiseMLPEvaluator : public Evaluator {
 public:
  CruiseMLPEvaluator();
 
  virtual ~CruiseMLPEvaluator() = default;
 
  bool Evaluate(Obstacle* obstacle_ptr,
                ObstaclesContainer* obstacles_container) override;
 
  void ExtractFeatureValues(Obstacle* obstacle_ptr,
                            LaneSequence* lane_sequence_ptr,
                            std::vector<double>* feature_values);
 
  std::string GetName() override { return "CRUISE_MLP_EVALUATOR"; }
 
  void Clear();
 
 private:
  void SetObstacleFeatureValues(const Obstacle* obstacle_ptr,
                                std::vector<double>* feature_values);
 
  void SetInteractionFeatureValues(Obstacle* obstacle_ptr,
                                   ObstaclesContainer* obstacles_container,
                                   LaneSequence* lane_sequence_ptr,
                                   std::vector<double>* feature_values);
 
  void SetLaneFeatureValues(const Obstacle* obstacle_ptr,
                            const LaneSequence* lane_sequence_ptr,
                            std::vector<double>* feature_values);
 
  void LoadModels();
 
  void ModelInference(const std::vector<torch::jit::IValue>& torch_inputs,
                      torch::jit::script::Module torch_model_ptr,
                      LaneSequence* lane_sequence_ptr);
 
 private:
  static const size_t OBSTACLE_FEATURE_SIZE = 23 + 5 * 9;
  static const size_t INTERACTION_FEATURE_SIZE = 8;
  static const size_t SINGLE_LANE_FEATURE_SIZE = 4;
  static const size_t LANE_POINTS_SIZE = 20;
 
  torch::jit::script::Module torch_go_model_;
  torch::jit::script::Module torch_cutin_model_;
  torch::Device device_;
};
 
}  // namespace prediction
}  // namespace apollo