apollo::prediction::CyclistKeepLaneEvaluator类 参考

#include <cyclist_keep_lane_evaluator.h>

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

apollo::prediction::CyclistKeepLaneEvaluator 的协作图:

Public 成员函数
	CyclistKeepLaneEvaluator ()
	Constructor
virtual	~CyclistKeepLaneEvaluator ()=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 cyclist_keep_lane_evaluator.h 第 37 行定义.

构造及析构函数说明

CyclistKeepLaneEvaluator()

apollo::prediction::CyclistKeepLaneEvaluator::CyclistKeepLaneEvaluator

(

)

Constructor

在文件 cyclist_keep_lane_evaluator.cc 第 22 行定义.

                                                   {
  evaluator_type_ = ObstacleConf::CYCLIST_KEEP_LANE_EVALUATOR;
}

~CyclistKeepLaneEvaluator()

virtual apollo::prediction::CyclistKeepLaneEvaluator::~CyclistKeepLaneEvaluator ( )

virtualdefault

Destructor

成员函数说明

Evaluate()

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

overridevirtual

Override Evaluate

参数

Obstacle

pointer

实现了 apollo::prediction::Evaluator.

在文件 cyclist_keep_lane_evaluator.cc 第 26 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() ||
      !latest_feature_ptr->lane().has_lane_feature()) {
    ADEBUG << "Obstacle [" << id << "] has no lane graph.";
    return false;
  }
 
  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;
  }
 
  std::string curr_lane_id =
      latest_feature_ptr->lane().lane_feature().lane_id();
 
  for (auto& lane_sequence : *lane_graph_ptr->mutable_lane_sequence()) {
    const double probability = ComputeProbability(curr_lane_id, lane_sequence);
    lane_sequence.set_probability(probability);
  }
  return true;
}

GetName()

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

inlineoverridevirtual

Get the name of evaluator.

实现了 apollo::prediction::Evaluator.

在文件 cyclist_keep_lane_evaluator.h 第 59 行定义.

{ return "CYCLIST_KEEP_LANE_EVALUATOR"; }

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该类的文档由以下文件生成:

• modules/prediction/evaluator/cyclist/cyclist_keep_lane_evaluator.h
• modules/prediction/evaluator/cyclist/cyclist_keep_lane_evaluator.cc