apollo::prediction::ExtrapolationPredictor类 参考

#include <extrapolation_predictor.h>

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

apollo::prediction::ExtrapolationPredictor 的协作图:

Public 成员函数
	ExtrapolationPredictor ()
	Constructor
virtual	~ExtrapolationPredictor ()=default
	Destructor
bool	Predict (const ADCTrajectoryContainer *adc_trajectory_container, Obstacle *obstacle, ObstaclesContainer *obstacles_container) override
	Make prediction
Public 成员函数 继承自 apollo::prediction::SequencePredictor
	SequencePredictor ()=default
	Constructor
virtual	~SequencePredictor ()=default
	Destructor
bool	Predict (const ADCTrajectoryContainer *adc_trajectory_container, Obstacle *obstacle, ObstaclesContainer *obstacles_container) override
	Make prediction
	FRIEND_TEST (SequencePredictorTest, General)
Public 成员函数 继承自 apollo::prediction::Predictor
	Predictor ()=default
	Constructor
virtual	~Predictor ()=default
	Destructor
int	NumOfTrajectories (const Obstacle &obstacle)
	Get trajectory size
void	TrimTrajectories (const ADCTrajectoryContainer &adc_trajectory_container, Obstacle *obstacle)
	Trim prediction trajectories by adc trajectory
const ObstacleConf::PredictorType &	predictor_type ()
	get the predictor type

额外继承的成员函数
Public 类型 继承自 apollo::prediction::SequencePredictor
enum class	LaneChangeType {   LEFT , RIGHT , STRAIGHT , ONTO_LANE ,   INVALID }
Protected 成员函数 继承自 apollo::prediction::SequencePredictor
bool	GetLongitudinalPolynomial (const Obstacle &obstacle, const LaneSequence &lane_sequence, const std::pair< double, double > &lon_end_state, std::array< double, 5 > *coefficients)
bool	GetLateralPolynomial (const Obstacle &obstacle, const LaneSequence &lane_sequence, const double time_to_end_state, std::array< double, 4 > *coefficients)
void	FilterLaneSequences (const Feature &feature, const std::string &lane_id, const Obstacle *ego_vehicle_ptr, const ADCTrajectoryContainer *adc_trajectory_container, std::vector< bool > *enable_lane_sequence)
	Filter lane sequences
LaneChangeType	GetLaneChangeType (const std::string &lane_id, const LaneSequence &lane_sequence)
	Get lane change type
double	GetLaneChangeDistanceWithADC (const LaneSequence &lane_sequence, const Obstacle *ego_vehicle_ptr, const ADCTrajectoryContainer *adc_trajectory_container)
	Get lane change distance with ADC
void	DrawConstantAccelerationTrajectory (const Obstacle &obstacle, const LaneSequence &lane_sequence, const double total_time, const double period, const double acceleration, std::vector< apollo::common::TrajectoryPoint > *points)
	Draw constant acceleration trajectory points
double	GetLaneSequenceCurvatureByS (const LaneSequence &lane_sequence, const double s)
	Get lane sequence curvature by s
void	Clear ()
	Clear private members
std::string	ToString (const LaneSequence &sequence)
	Convert a lane sequence to string
Protected 成员函数 继承自 apollo::prediction::Predictor
void	SetEqualProbability (const double probability, const int start_index, Obstacle *obstacle_ptr)
	Set equal probability to prediction trajectories
bool	TrimTrajectory (const ADCTrajectoryContainer &adc_trajectory_container, Obstacle *obstacle, Trajectory *trajectory)
	Trim a single prediction trajectory, keep the portion that is not in junction.
bool	SupposedToStop (const Feature &feature, const double stop_distance, double *acceleration)
	Determine if an obstacle is supposed to stop within a distance
静态 Protected 成员函数 继承自 apollo::prediction::Predictor
static Trajectory	GenerateTrajectory (const std::vector< apollo::common::TrajectoryPoint > &points)
	Generate trajectory from trajectory points
Protected 属性 继承自 apollo::prediction::Predictor
ObstacleConf::PredictorType	predictor_type_

详细描述

在文件 extrapolation_predictor.h 第 32 行定义.

构造及析构函数说明

ExtrapolationPredictor()

apollo::prediction::ExtrapolationPredictor::ExtrapolationPredictor

(

)

Constructor

在文件 extrapolation_predictor.cc 第 30 行定义.

                                               {
  predictor_type_ = ObstacleConf::EXTRAPOLATION_PREDICTOR;
}

~ExtrapolationPredictor()

virtual apollo::prediction::ExtrapolationPredictor::~ExtrapolationPredictor ( )

virtualdefault

Destructor

成员函数说明

Predict()

bool apollo::prediction::ExtrapolationPredictor::Predict ( const ADCTrajectoryContainer *  adc_trajectory_container, Obstacle *  obstacle, ObstaclesContainer *  obstacles_container  )

overridevirtual

Make prediction

参数

ADC	trajectory container
Obstacle	pointer
Obstacles	container

返回

If predicted successfully

实现了 apollo::prediction::Predictor.

在文件 extrapolation_predictor.cc 第 34 行定义.

                                             {
  Clear();
 
  CHECK_NOTNULL(obstacle);
  CHECK_GT(obstacle->history_size(), 0U);
 
  obstacle->SetPredictorType(predictor_type_);
 
  Feature* feature_ptr = obstacle->mutable_latest_feature();
 
  if (!feature_ptr->lane().has_lane_graph()) {
    AERROR << "Obstacle [" << obstacle->id() << "] has no lane graph.";
    return false;
  }
  if (feature_ptr->predicted_trajectory().empty()) {
    AERROR << "Obstacle [" << obstacle->id()
           << "] has no short-term trajectories.";
    return false;
  }
  auto* cluster_ptr = obstacles_container->GetClustersPtr();
  for (int i = 0; i < feature_ptr->predicted_trajectory_size(); ++i) {
    Trajectory* trajectory_ptr = feature_ptr->mutable_predicted_trajectory(i);
    PostProcess(trajectory_ptr, cluster_ptr);
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/prediction/predictor/extrapolation/extrapolation_predictor.h
• modules/prediction/predictor/extrapolation/extrapolation_predictor.cc