apollo::planning::Evaluator类 参考

#include <evaluator.h>

apollo::planning::Evaluator 的协作图:

Public 成员函数
void	Init ()
void	Close ()
void	Evaluate (const std::string &source_file)

详细描述

在文件 evaluator.h 第 28 行定义.

成员函数说明

Close()

void apollo::planning::Evaluator::Close

(

)

在文件 evaluator.cc 第 41 行定义.

                      {
  auto end_time = std::chrono::system_clock::now();
  std::chrono::duration<double> elapsed_seconds = end_time - start_time_;
  EvaluatorLogger::GetStream()
      << "Time elapsed(sec): " << elapsed_seconds.count() << std::endl
      << std::endl;
}

Evaluate()

void apollo::planning::Evaluator::Evaluate

(

const std::string &

source_file

)

在文件 evaluator.cc 第 49 行定义.

                                                     {
  EvaluatorLogger::GetStream() << "Processing: " << source_file << std::endl;
 
  const std::string& source_filename =
      source_file.substr(source_file.find_last_of("/") + 1);
 
  cyber::common::GetProtoFromFile(source_file, &learning_data_);
 
  for (int i = 0; i < learning_data_.learning_data_frame_size(); ++i) {
    auto learning_data_frame = learning_data_.mutable_learning_data_frame(i);
    if (learning_data_frame->adc_trajectory_point_size() <= 0) {
      continue;
    }
    const double start_point_timestamp_sec =
        learning_data_frame
            ->adc_trajectory_point(
                learning_data_frame->adc_trajectory_point_size() - 1)
            .timestamp_sec();
 
    // evaluate adc trajectory
    trajectory_evaluator_.EvaluateADCTrajectory(start_point_timestamp_sec,
                                                FLAGS_trajectory_delta_t,
                                                learning_data_frame);
 
    // evaluate adc future trajectory
    std::vector<TrajectoryPointFeature> adc_future_trajectory;
    for (const auto& tp : learning_data_.learning_data_frame(i)
                              .output()
                              .adc_future_trajectory_point()) {
      adc_future_trajectory.push_back(tp);
    }
    std::vector<TrajectoryPointFeature> evaluated_adc_future_trajectory;
    trajectory_evaluator_.EvaluateADCFutureTrajectory(
        learning_data_.learning_data_frame(i).frame_num(),
        adc_future_trajectory, start_point_timestamp_sec,
        FLAGS_trajectory_delta_t, &evaluated_adc_future_trajectory);
    learning_data_frame->mutable_output()->clear_adc_future_trajectory_point();
    for (const auto& tp : evaluated_adc_future_trajectory) {
      auto adc_future_trajectory_point =
          learning_data_frame->mutable_output()
              ->add_adc_future_trajectory_point();
      adc_future_trajectory_point->set_timestamp_sec(tp.timestamp_sec());
      adc_future_trajectory_point->mutable_trajectory_point()->CopyFrom(
          tp.trajectory_point());
    }
 
    // evaluate obstacle trajectory
    trajectory_evaluator_.EvaluateObstacleTrajectory(start_point_timestamp_sec,
                                                     FLAGS_trajectory_delta_t,
                                                     learning_data_frame);
 
    // evaluate obstacle prediction trajectory
    trajectory_evaluator_.EvaluateObstaclePredictionTrajectory(
        start_point_timestamp_sec, FLAGS_trajectory_delta_t,
        learning_data_frame);
  }
 
  WriteOutData(source_filename, learning_data_);
}

Init()

void apollo::planning::Evaluator::Init

(

)

在文件 evaluator.cc 第 33 行定义.

                     {
  start_time_ = std::chrono::system_clock::now();
  std::time_t now = std::time(nullptr);
  EvaluatorLogger::GetStream()
      << "UTC date and time: " << std::asctime(std::gmtime(&now))
      << "Local date and time: " << std::asctime(std::localtime(&now));
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/learning_based/pipeline/evaluator.h
• modules/planning/planning_base/learning_based/pipeline/evaluator.cc