apollo::planning::TrajectoryImitationLibtorchInference类 参考

#include <trajectory_imitation_libtorch_inference.h>

类 apollo::planning::TrajectoryImitationLibtorchInference 继承关系图:

apollo::planning::TrajectoryImitationLibtorchInference 的协作图:

Public 成员函数
	TrajectoryImitationLibtorchInference (const LearningModelInferenceTaskConfig &config)
	Constructor
virtual	~TrajectoryImitationLibtorchInference ()=default
	Destructor
std::string	GetName () override
	Get the name of model inference
bool	LoadModel () override
	load a learned model
bool	DoInference (LearningDataFrame *const learning_data_frame) override
	inference a learned model
Public 成员函数 继承自 apollo::planning::ModelInference
	ModelInference (const LearningModelInferenceTaskConfig &config)
	Constructor
virtual	~ModelInference ()=default
	Destructor

额外继承的成员函数
Protected 属性 继承自 apollo::planning::ModelInference
LearningModelInferenceTaskConfig	config_

详细描述

在文件 trajectory_imitation_libtorch_inference.h 第 34 行定义.

构造及析构函数说明

TrajectoryImitationLibtorchInference()

apollo::planning::TrajectoryImitationLibtorchInference::TrajectoryImitationLibtorchInference ( const LearningModelInferenceTaskConfig &  config )

explicit

Constructor

在文件 trajectory_imitation_libtorch_inference.cc 第 33 行定义.

    : ModelInference(config), device_(torch::kCPU) {}

~TrajectoryImitationLibtorchInference()

virtual apollo::planning::TrajectoryImitationLibtorchInference::~TrajectoryImitationLibtorchInference ( )

virtualdefault

Destructor

成员函数说明

DoInference()

bool apollo::planning::TrajectoryImitationLibtorchInference::DoInference ( LearningDataFrame *const  learning_data_frame )

overridevirtual

inference a learned model

参数

learning_data_frame

input and output intermediate for inference

实现了 apollo::planning::ModelInference.

在文件 trajectory_imitation_libtorch_inference.cc 第 285 行定义.

                                                  {
  switch (config_.model_type()) {
    case LearningModelInferenceTaskConfig::CNN: {
      if (!DoCNNMODELInference(learning_data_frame)) {
        return false;
      }
      break;
    }
    case LearningModelInferenceTaskConfig::CNN_LSTM: {
      if (!DoCNNLSTMMODELInference(learning_data_frame)) {
        return false;
      }
      break;
    }
    default: {
      AERROR << "Configured model type not defined and implemented";
      break;
    }
  }
  return true;
}

GetName()

std::string apollo::planning::TrajectoryImitationLibtorchInference::GetName ( )

inlineoverridevirtual

Get the name of model inference

实现了 apollo::planning::ModelInference.

在文件 trajectory_imitation_libtorch_inference.h 第 50 行定义.

{ return "TRAJECTORY_IMITATION_INFERENCE"; };

LoadModel()

bool apollo::planning::TrajectoryImitationLibtorchInference::LoadModel ( )

overridevirtual

load a learned model

实现了 apollo::planning::ModelInference.

在文件 trajectory_imitation_libtorch_inference.cc 第 71 行定义.

                                                     {
  if (config_.use_cuda() && torch::cuda::is_available()) {
    ADEBUG << "CUDA is available";
    device_ = torch::Device(torch::kCUDA);
    try {
      model_ = torch::jit::load(config_.gpu_model_file(), device_);
    } catch (const c10::Error& e) {
      AERROR << "Failed to load model on to device";
      return false;
    }
  } else {
    model_ = torch::jit::load(config_.cpu_model_file(), device_);
  }
 
  torch::set_num_threads(1);
  switch (config_.model_type()) {
    case LearningModelInferenceTaskConfig::CNN: {
      if (!LoadCNNModel()) {
        return false;
      }
      break;
    }
    case LearningModelInferenceTaskConfig::CNN_LSTM: {
      if (!LoadCNNLSTMModel()) {
        return false;
      }
      break;
    }
    default: {
      AERROR << "Configured model type not defined and implemented";
      break;
    }
  }
  return true;
}

---

该类的文档由以下文件生成:

• modules/planning/planning_base/learning_based/model_inference/trajectory_imitation_libtorch_inference.h
• modules/planning/planning_base/learning_based/model_inference/trajectory_imitation_libtorch_inference.cc