apollo::prediction::FreeMovePredictor类 参考

#include <free_move_predictor.h>

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

apollo::prediction::FreeMovePredictor 的协作图:

Public 成员函数
	FreeMovePredictor ()
	Constructor
virtual	~FreeMovePredictor ()=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::Predictor
	Predictor ()=default
	Constructor
virtual	~Predictor ()=default
	Destructor
int	NumOfTrajectories (const Obstacle &obstacle)
	Get trajectory size
virtual void	Clear ()
	Clear all trajectories
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
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 free_move_predictor.h 第 32 行定义.

构造及析构函数说明

FreeMovePredictor()

apollo::prediction::FreeMovePredictor::FreeMovePredictor

(

)

Constructor

在文件 free_move_predictor.cc 第 29 行定义.

                                     {
  predictor_type_ = ObstacleConf::FREE_MOVE_PREDICTOR;
}

~FreeMovePredictor()

virtual apollo::prediction::FreeMovePredictor::~FreeMovePredictor ( )

virtualdefault

Destructor

成员函数说明

Predict()

bool apollo::prediction::FreeMovePredictor::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 free_move_predictor.cc 第 33 行定义.

                                             {
  Clear();
 
  CHECK_NOTNULL(obstacle);
  CHECK_GT(obstacle->history_size(), 0U);
 
  obstacle->SetPredictorType(predictor_type_);
 
  const Feature& feature = obstacle->latest_feature();
 
  if (!feature.has_position() || !feature.has_velocity() ||
      !feature.position().has_x() || !feature.position().has_y()) {
    AERROR << "Obstacle [" << obstacle->id()
           << " is missing position or velocity";
    return false;
  }
 
  double prediction_total_time = FLAGS_prediction_trajectory_time_length;
  if (obstacle->type() == PerceptionObstacle::PEDESTRIAN) {
    prediction_total_time = FLAGS_prediction_trajectory_time_length;
  }
 
  if (feature.predicted_trajectory().empty()) {
    std::vector<TrajectoryPoint> points;
    Eigen::Vector2d position(feature.position().x(), feature.position().y());
    Eigen::Vector2d velocity(feature.velocity().x(), feature.velocity().y());
    Eigen::Vector2d acc(feature.acceleration().x(), feature.acceleration().y());
    double theta = feature.velocity_heading();
 
    DrawFreeMoveTrajectoryPoints(
        position, velocity, acc, theta, 0.0, prediction_total_time,
        FLAGS_prediction_trajectory_time_resolution, &points);
 
    Trajectory trajectory = GenerateTrajectory(points);
    obstacle->mutable_latest_feature()->add_predicted_trajectory()->CopyFrom(
        trajectory);
    SetEqualProbability(1.0, 0, obstacle);
  } else {
    for (int i = 0; i < feature.predicted_trajectory_size(); ++i) {
      Trajectory* trajectory =
          obstacle->mutable_latest_feature()->mutable_predicted_trajectory(i);
      int traj_size = trajectory->trajectory_point_size();
      if (traj_size == 0) {
        AERROR << "Empty predicted trajectory found";
        continue;
      }
      std::vector<TrajectoryPoint> points;
      const TrajectoryPoint& last_point =
          trajectory->trajectory_point(traj_size - 1);
      double theta = last_point.path_point().theta();
      Eigen::Vector2d position(last_point.path_point().x(),
                               last_point.path_point().y());
      Eigen::Vector2d velocity(last_point.v() * std::cos(theta),
                               last_point.v() * std::sin(theta));
      Eigen::Vector2d acc(last_point.a() * std::cos(theta),
                          last_point.a() * std::sin(theta));
      double last_relative_time = last_point.relative_time();
      DrawFreeMoveTrajectoryPoints(
          position, velocity, acc, theta, last_relative_time,
          prediction_total_time - last_relative_time,
          FLAGS_prediction_trajectory_time_resolution, &points);
      // The following for-loop starts from index 1 because the vector points
      // includes the last point in the existing predicted trajectory
      for (size_t i = 1; i < points.size(); ++i) {
        trajectory->add_trajectory_point()->CopyFrom(points[i]);
      }
    }
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/prediction/predictor/free_move/free_move_predictor.h
• modules/prediction/predictor/free_move/free_move_predictor.cc