apollo::prediction::FeatureExtractor类 参考

#include <feature_extractor.h>

apollo::prediction::FeatureExtractor 的协作图:

Public 成员函数
	FeatureExtractor ()=delete
	Constructor
	FRIEND_TEST (FeatureExtractorTest, junction)

静态 Public 成员函数
static EnvironmentFeatures	ExtractEnvironmentFeatures (ContainerManager *container_manager)
	Extract features for scenario analysis

详细描述

在文件 feature_extractor.h 第 33 行定义.

构造及析构函数说明

FeatureExtractor()

apollo::prediction::FeatureExtractor::FeatureExtractor ( )

delete

Constructor

成员函数说明

ExtractEnvironmentFeatures()

EnvironmentFeatures apollo::prediction::FeatureExtractor::ExtractEnvironmentFeatures ( ContainerManager *  container_manager )

static

Extract features for scenario analysis

返回

Scenario features

在文件 feature_extractor.cc 第 31 行定义.

                                         {
  EnvironmentFeatures environment_features;
 
  auto ego_state_container = container_manager->GetContainer<PoseContainer>(
      AdapterConfig::LOCALIZATION);
 
  if (ego_state_container == nullptr ||
      ego_state_container->ToPerceptionObstacle() == nullptr) {
    AERROR << "Null ego state container found or "
              "the container pointer is nullptr";
    return environment_features;
  }
 
  auto ptr_ego_state = ego_state_container->ToPerceptionObstacle();
  if (!ptr_ego_state->has_position() || !ptr_ego_state->position().has_x() ||
      !ptr_ego_state->position().has_y() || !ptr_ego_state->has_theta() ||
      !ptr_ego_state->has_velocity() || !ptr_ego_state->velocity().has_x() ||
      !ptr_ego_state->velocity().has_y()) {
    AERROR << "Incomplete ego pose information.";
    return environment_features;
  }
 
  if (std::isnan(ptr_ego_state->position().x()) ||
      std::isnan(ptr_ego_state->position().y()) ||
      std::isnan(ptr_ego_state->theta()) ||
      std::isnan(ptr_ego_state->velocity().x()) ||
      std::isnan(ptr_ego_state->velocity().y())) {
    AERROR << "nan found in ego state";
    return environment_features;
  }
 
  Vec2d ego_position(ptr_ego_state->position().x(),
                     ptr_ego_state->position().y());
 
  Vec2d ego_velocity(ptr_ego_state->velocity().x(),
                     ptr_ego_state->velocity().y());
 
  environment_features.set_ego_speed(ego_velocity.Length());
  environment_features.set_ego_heading(ptr_ego_state->theta());
 
  auto ptr_ego_lane =
      GetEgoLane(ptr_ego_state->position(), ptr_ego_state->theta());
 
  ExtractEgoLaneFeatures(&environment_features, ptr_ego_lane, ego_position);
 
  ExtractNeighborLaneFeatures(&environment_features, ptr_ego_lane,
                              ego_position);
 
  ExtractFrontJunctionFeatures(&environment_features, container_manager);
 
  return environment_features;
}

FRIEND_TEST()

apollo::prediction::FeatureExtractor::FRIEND_TEST	(	FeatureExtractorTest	,
		junction
	)

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该类的文档由以下文件生成:

• modules/prediction/scenario/feature_extractor/feature_extractor.h
• modules/prediction/scenario/feature_extractor/feature_extractor.cc