apollo::prediction::JunctionPredictor类 参考

#include <junction_predictor.h>

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

apollo::prediction::JunctionPredictor 的协作图:

Public 成员函数
	JunctionPredictor ()
	Constructor
virtual	~JunctionPredictor ()=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 junction_predictor.h 第 33 行定义.

构造及析构函数说明

JunctionPredictor()

apollo::prediction::JunctionPredictor::JunctionPredictor

(

)

Constructor

在文件 junction_predictor.cc 第 36 行定义.

                                     {
  predictor_type_ = ObstacleConf::JUNCTION_PREDICTOR;
}

~JunctionPredictor()

virtual apollo::prediction::JunctionPredictor::~JunctionPredictor ( )

virtualdefault

Destructor

成员函数说明

Predict()

bool apollo::prediction::JunctionPredictor::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 junction_predictor.cc 第 40 行定义.

                                             {
  Clear();
  CHECK_NOTNULL(obstacle);
  CHECK_GT(obstacle->history_size(), 0U);
 
  obstacle->SetPredictorType(predictor_type_);
 
  const Feature& latest_feature = obstacle->latest_feature();
  std::vector<JunctionExit> junction_exits =
      MostLikelyJunctions(latest_feature);
  for (const auto& junction_exit : junction_exits) {
    std::vector<TrajectoryPoint> trajectory_points;
    DrawJunctionTrajectoryPoints(
        latest_feature, junction_exit, FLAGS_prediction_trajectory_time_length,
        FLAGS_prediction_trajectory_time_resolution, &trajectory_points);
    Trajectory trajectory = GenerateTrajectory(trajectory_points);
    obstacle->mutable_latest_feature()->add_predicted_trajectory()->CopyFrom(
        trajectory);
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/prediction/predictor/junction/junction_predictor.h
• modules/prediction/predictor/junction/junction_predictor.cc