jointly_prediction_planning_evaluator.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2021 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 <utility>
#include <vector>
 
#include "modules/prediction/evaluator/evaluator.h"
#include "torch/extension.h"
#include "torch/script.h"
#include "modules/prediction/container/container_manager.h"
#include "modules/prediction/pipeline/vector_net.h"
 
namespace apollo {
namespace prediction {
 
using apollo::common::TrajectoryPoint;
 
class JointlyPredictionPlanningEvaluator : public Evaluator {
 public:
  JointlyPredictionPlanningEvaluator();
 
  virtual ~JointlyPredictionPlanningEvaluator() = default;
 
  void Clear();
 
  bool VectornetProcessObstaclePosition(Obstacle* obstacle_ptr,
                                    ObstaclesContainer* obstacles_container,
                                    torch::Tensor* ptr_target_obs_pos,
                                    torch::Tensor* ptr_target_obs_pos_step,
                                    torch::Tensor* ptr_vector_mask,
                                    torch::Tensor* ptr_all_obstacle_pos,
                                    torch::Tensor* ptr_all_obs_p_id,
                                    torch::Tensor* ptr_obs_length);
 
  bool VectornetProcessMapData(FeatureVector *map_feature,
                               PidVector *map_p_id,
                               const int obs_num,
                               torch::Tensor* ptr_map_data,
                               torch::Tensor* ptr_all_map_p_id,
                               torch::Tensor* ptr_vector_mask);
 
  bool Evaluate(Obstacle* obstacle_ptr,
                ObstaclesContainer* obstacles_container) override;
 
 
  bool Evaluate(const ADCTrajectoryContainer* adc_trajectory_container,
                Obstacle* obstacle_ptr,
                ObstaclesContainer* obstacles_container) override;
 
    bool ExtractObstaclesHistory(
      Obstacle* obstacle_ptr, ObstaclesContainer* obstacles_container,
      std::vector<std::pair<double, double>>* curr_pos_history,
      std::vector<std::pair<double, double>>* all_obs_length,
      std::vector<std::vector<std::pair<double, double>>>* all_obs_pos_history,
      torch::Tensor* vector_mask);
 
  bool ExtractADCTrajectory(
      std::vector<TrajectoryPoint>* trajectory_points,
      Obstacle* obstacle_ptr,
      std::vector<std::pair<double, double>>* acd_traj_curr_pos);
 
  std::string GetName() override {
    return "JOINTLY_PREDICTION_PLANNING_EVALUATOR";
  }
 
 private:
  void LoadModel();
 
 private:
  torch::jit::script::Module torch_vehicle_model_;
  at::Tensor torch_default_output_tensor_;
  torch::Device device_;
  VectorNet vector_net_;
};
 
}  // namespace prediction
}  // namespace apollo