apollo::prediction::InteractionFilter类 参考

#include <interaction_filter.h>

apollo::prediction::InteractionFilter 的协作图:

Public 成员函数
	InteractionFilter ()=delete
	InteractionFilter (const std::shared_ptr< ContainerManager > &container_manager)
void	AssignInteractiveTag ()
	Assign interactive tag for vehicle type obstacles which are close to ADC

详细描述

在文件 interaction_filter.h 第 34 行定义.

构造及析构函数说明

InteractionFilter() [1/2]

apollo::prediction::InteractionFilter::InteractionFilter ( )

delete

InteractionFilter() [2/2]

apollo::prediction::InteractionFilter::InteractionFilter ( const std::shared_ptr< ContainerManager > &  container_manager )

explicit

在文件 interaction_filter.cc 第 89 行定义.

    : container_manager_(container_manager) {}

成员函数说明

AssignInteractiveTag()

void apollo::prediction::InteractionFilter::AssignInteractiveTag

(

)

Assign interactive tag for vehicle type obstacles which are close to ADC

在文件 interaction_filter.cc 第 93 行定义.

                                             {
  auto obstacles_container =
      container_manager_->GetContainer<ObstaclesContainer>(
          AdapterConfig::PERCEPTION_OBSTACLES);
  if (obstacles_container == nullptr) {
    AERROR << "Obstacles container pointer is a null pointer.";
    return;
  }
  Obstacle* ego_vehicle =
      obstacles_container->GetObstacle(FLAGS_ego_vehicle_id);
  if (ego_vehicle == nullptr) {
    AERROR << "Ego vehicle not found";
    return;
  }
  if (ego_vehicle->history_size() == 0) {
    AERROR << "Ego vehicle has no history";
    return;
  }
 
  const auto& obstacle_ids =
    obstacles_container->curr_frame_movable_obstacle_ids();
  for (const int obstacle_id : obstacle_ids) {
    Obstacle* obstacle_ptr = obstacles_container->GetObstacle(obstacle_id);
    if (obstacle_ptr == nullptr) {
      AERROR << "Null obstacle pointer found.";
      continue;
    }
    if (obstacle_ptr->history_size() == 0) {
      AERROR << "Obstacle [" << obstacle_ptr->id() << "] has no feature.";
      continue;
    }
    Feature* latest_feature_ptr = obstacle_ptr->mutable_latest_feature();
    latest_feature_ptr->mutable_interactive_tag()->set_interactive_tag(
          ObstacleInteractiveTag::NONINTERACTION);
  }
  auto storytelling_container =
      container_manager_->GetContainer<StoryTellingContainer>(
          AdapterConfig::STORYTELLING);
  if (storytelling_container->ADCDistanceToJunction() <
      FLAGS_junction_distance_threshold) {
    AssignInteractiveTagInJunction(*ego_vehicle, obstacles_container,
                                 storytelling_container->ADCJunctionId());
  }
  AssignInteractiveTagCruiseKeepLane(*ego_vehicle, obstacles_container);
  AssignInteractiveTagCruiseChangeLane(*ego_vehicle, obstacles_container);
  AssignInteractiveTagByEgoReferenceLine(*ego_vehicle, obstacles_container);
  if (FLAGS_enable_rank_interactive_obstacles) {
    RankingInteractiveTagObstacles(*ego_vehicle, obstacles_container);
  }
}

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该类的文档由以下文件生成:

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