#include <cost_evaluator.h>

类 apollo::prediction::CostEvaluator 继承关系图:

apollo::prediction::CostEvaluator 的协作图:

Public 成员函数
	CostEvaluator ()
	Constructor

virtual	~CostEvaluator ()=default
	Destructor

bool	Evaluate (Obstacle obstacle_ptr, ObstaclesContainer obstacles_container) override
	Override Evaluate

std::string	GetName () override
	Get the name of evaluator.

Public 成员函数继承自 apollo::prediction::Evaluator
	Evaluator ()=default
	Constructor

virtual	~Evaluator ()=default
	Destructor

virtual bool	Evaluate (Obstacle obstacle, ObstaclesContainer obstacles_container, std::vector< Obstacle * > dynamic_env)
	Evaluate an obstacle

virtual bool	Evaluate (const ADCTrajectoryContainer adc_trajectory_container, Obstacle obstacle, ObstaclesContainer *obstacles_container)
	Evaluate an obstacle

额外继承的成员函数
Protected 成员函数继承自 apollo::prediction::Evaluator
std::pair< double, double >	WorldCoordToObjCoord (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle)

std::pair< double, double >	WorldCoordToObjCoordNorth (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle)

double	WorldAngleToObjAngle (double input_world_angle, double obj_world_angle)

Eigen::MatrixXf	VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index)

Eigen::MatrixXf	VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index, const int output_num_row, const int output_num_col)

Protected 属性继承自 apollo::prediction::Evaluator
ObstacleConf::EvaluatorType	evaluator_type_

详细描述

在文件 cost_evaluator.h 第 28 行定义.

构造及析构函数说明

◆ CostEvaluator()

apollo::prediction::CostEvaluator::CostEvaluator ( )

Constructor

在文件 cost_evaluator.cc 第 23 行定义.

                             {
  evaluator_type_ = ObstacleConf::COST_EVALUATOR;
}

◆ ~CostEvaluator()

virtual apollo::prediction::CostEvaluator::~CostEvaluator ( )

virtualdefault

Destructor

成员函数说明

◆ Evaluate()

bool apollo::prediction::CostEvaluator::Evaluate	(	Obstacle *	obstacle_ptr,
		ObstaclesContainer *	obstacles_container
	)

overridevirtual

Override Evaluate

参数

Obstacle	pointer
Obstacles	container

实现了 apollo::prediction::Evaluator.

在文件 cost_evaluator.cc 第 27 行定义.

                                                                      {
  CHECK_NOTNULL(obstacle_ptr);
 
  obstacle_ptr->SetEvaluatorType(evaluator_type_);
 
  int id = obstacle_ptr->id();
  if (!obstacle_ptr->latest_feature().IsInitialized()) {
    AERROR << "Obstacle [" << id << "] has no latest feature.";
    return false;
  }
 
  Feature* latest_feature_ptr = obstacle_ptr->mutable_latest_feature();
  CHECK_NOTNULL(latest_feature_ptr);
  if (!latest_feature_ptr->has_lane() ||
      !latest_feature_ptr->lane().has_lane_graph()) {
    ADEBUG << "Obstacle [" << id << "] has no lane graph.";
    return false;
  }
 
  double obstacle_length = 0.0;
  if (latest_feature_ptr->has_length()) {
    obstacle_length = latest_feature_ptr->length();
  }
  double obstacle_width = 0.0;
  if (latest_feature_ptr->has_width()) {
    obstacle_width = latest_feature_ptr->width();
  }
 
  LaneGraph* lane_graph_ptr =
      latest_feature_ptr->mutable_lane()->mutable_lane_graph();
  CHECK_NOTNULL(lane_graph_ptr);
  if (lane_graph_ptr->lane_sequence().empty()) {
    AERROR << "Obstacle [" << id << "] has no lane sequences.";
    return false;
  }
 
  for (int i = 0; i < lane_graph_ptr->lane_sequence_size(); ++i) {
    LaneSequence* lane_sequence_ptr = lane_graph_ptr->mutable_lane_sequence(i);
    CHECK_NOTNULL(lane_sequence_ptr);
    double probability =
        ComputeProbability(obstacle_length, obstacle_width, *lane_sequence_ptr);
    lane_sequence_ptr->set_probability(probability);
  }
  return true;
}

◆ GetName()

std::string apollo::prediction::CostEvaluator::GetName ( )

inlineoverridevirtual

Get the name of evaluator.

实现了 apollo::prediction::Evaluator.

在文件 cost_evaluator.h 第 51 行定义.

51{ return "COST_EVALUATOR"; }

该类的文档由以下文件生成:

modules/prediction/evaluator/vehicle/cost_evaluator.h
modules/prediction/evaluator/vehicle/cost_evaluator.cc

Public 成员函数