apollo::prediction::Evaluator类 参考

#include <evaluator.h>

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

apollo::prediction::Evaluator 的协作图:

Public 成员函数
	Evaluator ()=default
	Constructor
virtual	~Evaluator ()=default
	Destructor
virtual bool	Evaluate (Obstacle *obstacle, ObstaclesContainer *obstacles_container)=0
	Evaluate an obstacle
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
virtual std::string	GetName ()=0
	Get the name of evaluator

Protected 成员函数
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
ObstacleConf::EvaluatorType	evaluator_type_

详细描述

在文件 evaluator.h 第 40 行定义.

构造及析构函数说明

Evaluator()

apollo::prediction::Evaluator::Evaluator ( )

default

Constructor

~Evaluator()

virtual apollo::prediction::Evaluator::~Evaluator ( )

virtualdefault

Destructor

成员函数说明

Evaluate() [1/3]

virtual bool apollo::prediction::Evaluator::Evaluate ( const ADCTrajectoryContainer *  adc_trajectory_container, Obstacle *  obstacle, ObstaclesContainer *  obstacles_container  )

inlinevirtual

Evaluate an obstacle

参数

ADC	trajectory container
Obstacle	pointer
Obstacles	container

被 apollo::prediction::MultiAgentEvaluator , 以及 apollo::prediction::JointlyPredictionPlanningEvaluator 重载.

在文件 evaluator.h 第 81 行定义.

                                                                 {
    return Evaluate(obstacle, obstacles_container);
  }

Evaluate() [2/3]

virtual bool apollo::prediction::Evaluator::Evaluate ( Obstacle *  obstacle, ObstaclesContainer *  obstacles_container  )

pure virtual

Evaluate an obstacle

参数

Obstacle	pointer
Obstacles	container

在 apollo::prediction::MultiAgentEvaluator, apollo::prediction::CyclistKeepLaneEvaluator, apollo::prediction::PedestrianInteractionEvaluator, apollo::prediction::CostEvaluator, apollo::prediction::CruiseMLPEvaluator, apollo::prediction::JointlyPredictionPlanningEvaluator, apollo::prediction::JunctionMapEvaluator, apollo::prediction::JunctionMLPEvaluator, apollo::prediction::LaneAggregatingEvaluator, apollo::prediction::LaneScanningEvaluator, apollo::prediction::MLPEvaluator, apollo::prediction::SemanticLSTMEvaluator , 以及 apollo::prediction::VectornetEvaluator 内被实现.

Evaluate() [3/3]

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

inlinevirtual

Evaluate an obstacle

参数

Obstacle	pointer
Obstacles	container
vector	of all Obstacles

被 apollo::prediction::LaneScanningEvaluator 重载.

在文件 evaluator.h 第 69 行定义.

                                                          {
    return Evaluate(obstacle, obstacles_container);
  }

GetName()

virtual std::string apollo::prediction::Evaluator::GetName ( )

pure virtual

Get the name of evaluator

在 apollo::prediction::CyclistKeepLaneEvaluator, apollo::prediction::PedestrianInteractionEvaluator, apollo::prediction::CostEvaluator, apollo::prediction::CruiseMLPEvaluator, apollo::prediction::JointlyPredictionPlanningEvaluator, apollo::prediction::JunctionMapEvaluator, apollo::prediction::JunctionMLPEvaluator, apollo::prediction::LaneAggregatingEvaluator, apollo::prediction::LaneScanningEvaluator, apollo::prediction::MLPEvaluator, apollo::prediction::MultiAgentEvaluator, apollo::prediction::SemanticLSTMEvaluator , 以及 apollo::prediction::VectornetEvaluator 内被实现.

VectorToMatrixXf() [1/2]

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

inlineprotected

在文件 evaluator.h 第 121 行定义.

                                                                               {
    CHECK_LT(start_index, end_index);
    CHECK_GE(start_index, 0);
    CHECK_LE(end_index, static_cast<int>(nums.size()));
    Eigen::MatrixXf output_matrix;
    output_matrix.resize(1, end_index - start_index);
    for (int i = start_index; i < end_index; ++i) {
      output_matrix(0, i - start_index) = static_cast<float>(nums[i]);
    }
    return output_matrix;
  }

VectorToMatrixXf() [2/2]

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

inlineprotected

在文件 evaluator.h 第 134 行定义.

                                                             {
    CHECK_LT(start_index, end_index);
    CHECK_GE(start_index, 0);
    CHECK_LE(end_index, static_cast<int>(nums.size()));
    CHECK_EQ(end_index - start_index, output_num_row * output_num_col);
    Eigen::MatrixXf output_matrix;
    output_matrix.resize(output_num_row, output_num_col);
    int input_index = start_index;
    for (int i = 0; i < output_num_row; ++i) {
      for (int j = 0; j < output_num_col; ++j) {
        output_matrix(i, j) = static_cast<float>(nums[input_index]);
        ++input_index;
      }
    }
    CHECK_EQ(input_index, end_index);
    return output_matrix;
  }

WorldAngleToObjAngle()

double apollo::prediction::Evaluator::WorldAngleToObjAngle ( double  input_world_angle, double  obj_world_angle  )

inlineprotected

在文件 evaluator.h 第 116 行定义.

                                                      {
    return common::math::NormalizeAngle(input_world_angle - obj_world_angle);
  }

WorldCoordToObjCoord()

std::pair< double, double > apollo::prediction::Evaluator::WorldCoordToObjCoord ( std::pair< double, double >  input_world_coord, std::pair< double, double >  obj_world_coord, double  obj_world_angle  )

inlineprotected

在文件 evaluator.h 第 94 行定义.

                                                                       {
    double x_diff = input_world_coord.first - obj_world_coord.first;
    double y_diff = input_world_coord.second - obj_world_coord.second;
    double rho = std::sqrt(x_diff * x_diff + y_diff * y_diff);
    double theta = std::atan2(y_diff, x_diff) - obj_world_angle;
 
    return std::make_pair(std::cos(theta) * rho, std::sin(theta) * rho);
  }

WorldCoordToObjCoordNorth()

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

inlineprotected

在文件 evaluator.h 第 105 行定义.

                                                                       {
    double x_diff = input_world_coord.first - obj_world_coord.first;
    double y_diff = input_world_coord.second - obj_world_coord.second;
    double theta = M_PI / 2 - obj_world_angle;
    double x = std::cos(theta) * x_diff - std::sin(theta) * y_diff;
    double y = std::sin(theta) * x_diff + std::cos(theta) * y_diff;
    return std::make_pair(x, y);
  }

类成员变量说明

evaluator_type_

ObstacleConf::EvaluatorType apollo::prediction::Evaluator::evaluator_type_

protected

在文件 evaluator.h 第 156 行定义.

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该类的文档由以下文件生成:

• modules/prediction/evaluator/evaluator.h