base_type_fusion.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 "cyber/common/macros.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
#include "modules/perception/common/lib/registerer/registerer.h"
#include "modules/perception/multi_sensor_fusion/base/base_forward_declaration.h"
#include "modules/perception/multi_sensor_fusion/base/scene.h"
#include "modules/perception/multi_sensor_fusion/base/sensor_frame.h"
 
namespace apollo {
namespace perception {
namespace fusion {
 
struct TypeFusionInitOptions : BaseInitOptions {};
 
class BaseTypeFusion {
 public:
  explicit BaseTypeFusion(TrackPtr track) : track_ref_(track) {}
  virtual ~BaseTypeFusion() = default;
 
  static bool Init(const TypeFusionInitOptions& options);
 
  virtual void UpdateWithMeasurement(const SensorObjectPtr measurement,
                                     double target_timestamp) = 0;
 
  virtual void UpdateWithoutMeasurement(const std::string& sensor_id,
                                        double measurement_timestamp,
                                        double target_timestamp,
                                        double min_match_dist) = 0;
 
  virtual std::string Name() const = 0;
 
 protected:
  TrackPtr track_ref_ = nullptr;
 
  DISALLOW_COPY_AND_ASSIGN(BaseTypeFusion);
};
 
}  // namespace fusion
}  // namespace perception
}  // namespace apollo