#include <mlp_evaluator.h>

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

apollo::prediction::MLPEvaluator 的协作图:

Public 成员函数
	MLPEvaluator ()
	Constructor

virtual	~MLPEvaluator ()=default
	Destructor

bool	Evaluate (Obstacle obstacle_ptr, ObstaclesContainer obstacles_container) override
	Override Evaluate

void	ExtractFeatureValues (Obstacle obstacle_ptr, LaneSequence lane_sequence_ptr, std::vector< double > *feature_values)
	Extract feature vector

std::string	GetName () override
	Get the name of evaluator.

void	Clear ()
	Clear obstacle feature map

Public 成员函数继承自 apollo::prediction::Evaluator
	Evaluator ()=default
	Constructor

virtual	~Evaluator ()=default
	Destructor

virtual bool	Evaluate (Obstacle obstacle, ObstaclesContainer obstacles_container, std::vector< Obstacle * > dynamic_env)
	Evaluate an obstacle

virtual bool	Evaluate (const ADCTrajectoryContainer adc_trajectory_container, Obstacle obstacle, ObstaclesContainer *obstacles_container)
	Evaluate an obstacle

额外继承的成员函数
Protected 成员函数继承自 apollo::prediction::Evaluator
std::pair< double, double >	WorldCoordToObjCoord (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle)

std::pair< double, double >	WorldCoordToObjCoordNorth (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle)

double	WorldAngleToObjAngle (double input_world_angle, double obj_world_angle)

Eigen::MatrixXf	VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index)

Eigen::MatrixXf	VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index, const int output_num_row, const int output_num_col)

Protected 属性继承自 apollo::prediction::Evaluator
ObstacleConf::EvaluatorType	evaluator_type_

详细描述

在文件 mlp_evaluator.h 第 30 行定义.

构造及析构函数说明

◆ MLPEvaluator()

apollo::prediction::MLPEvaluator::MLPEvaluator ( )

Constructor

在文件 mlp_evaluator.cc 第 47 行定义.

                           {
  evaluator_type_ = ObstacleConf::MLP_EVALUATOR;
  LoadModel(FLAGS_evaluator_vehicle_mlp_file);
}

◆ ~MLPEvaluator()

virtual apollo::prediction::MLPEvaluator::~MLPEvaluator ( )

virtualdefault

Destructor

成员函数说明

◆ Clear()

void apollo::prediction::MLPEvaluator::Clear ( )

Clear obstacle feature map

在文件 mlp_evaluator.cc 第 52 行定义.

52{}

◆ Evaluate()

bool apollo::prediction::MLPEvaluator::Evaluate	(	Obstacle *	obstacle_ptr,
		ObstaclesContainer *	obstacles_container
	)

overridevirtual

Override Evaluate

参数

Obstacle	pointer
Obstacles	container

实现了 apollo::prediction::Evaluator.

在文件 mlp_evaluator.cc 第 54 行定义.

                                                                     {
  Clear();
  CHECK_NOTNULL(obstacle_ptr);
  CHECK_LE(LANE_FEATURE_SIZE, 4 * FLAGS_max_num_lane_point);
 
  obstacle_ptr->SetEvaluatorType(evaluator_type_);
 
  int id = obstacle_ptr->id();
  if (!obstacle_ptr->latest_feature().IsInitialized()) {
    AERROR << "Obstacle [" << id << "] has no latest feature.";
    return false;
  }
 
  Feature* latest_feature_ptr = obstacle_ptr->mutable_latest_feature();
  CHECK_NOTNULL(latest_feature_ptr);
  if (!latest_feature_ptr->has_lane() ||
      !latest_feature_ptr->lane().has_lane_graph()) {
    ADEBUG << "Obstacle [" << id << "] has no lane graph.";
    return false;
  }
 
  double speed = latest_feature_ptr->speed();
 
  LaneGraph* lane_graph_ptr =
      latest_feature_ptr->mutable_lane()->mutable_lane_graph();
  CHECK_NOTNULL(lane_graph_ptr);
  if (lane_graph_ptr->lane_sequence().empty()) {
    AERROR << "Obstacle [" << id << "] has no lane sequences.";
    return false;
  }
 
  std::vector<double> obstacle_feature_values;
  SetObstacleFeatureValues(obstacle_ptr, &obstacle_feature_values);
  if (obstacle_feature_values.size() != OBSTACLE_FEATURE_SIZE) {
    ADEBUG << "Obstacle [" << id << "] has fewer than "
           << "expected obstacle feature_values "
           << obstacle_feature_values.size() << ".";
    return false;
  }
 
  for (int i = 0; i < lane_graph_ptr->lane_sequence_size(); ++i) {
    LaneSequence* lane_sequence_ptr = lane_graph_ptr->mutable_lane_sequence(i);
    ACHECK(lane_sequence_ptr != nullptr);
    std::vector<double> lane_feature_values;
    SetLaneFeatureValues(obstacle_ptr, lane_sequence_ptr, &lane_feature_values);
    if (lane_feature_values.size() != LANE_FEATURE_SIZE) {
      ADEBUG << "Obstacle [" << id << "] has fewer than "
             << "expected lane feature_values" << lane_feature_values.size()
             << ".";
      continue;
    }
 
    std::vector<double> feature_values;
    feature_values.insert(feature_values.end(), obstacle_feature_values.begin(),
                          obstacle_feature_values.end());
    feature_values.insert(feature_values.end(), lane_feature_values.begin(),
                          lane_feature_values.end());
 
    // Insert features to DataForLearning
    if (FLAGS_prediction_offline_mode ==
            PredictionConstants::kDumpDataForLearning &&
        !obstacle_ptr->IsNearJunction()) {
      FeatureOutput::InsertDataForLearning(*latest_feature_ptr, feature_values,
                                           "mlp", lane_sequence_ptr);
      ADEBUG << "Save extracted features for learning locally.";
      return true;  // Skip Compute probability for offline mode
    }
    double probability = ComputeProbability(feature_values);
 
    double centripetal_acc_probability =
        ValidationChecker::ProbabilityByCentripetalAcceleration(
            *lane_sequence_ptr, speed);
    probability *= centripetal_acc_probability;
    lane_sequence_ptr->set_probability(probability);
  }
  return true;
}

◆ ExtractFeatureValues()

void apollo::prediction::MLPEvaluator::ExtractFeatureValues	(	Obstacle *	obstacle_ptr,
		LaneSequence *	lane_sequence_ptr,
		std::vector< double > *	feature_values
	)

Extract feature vector

参数

Obstacle pointer Lane Sequence pointer

在文件 mlp_evaluator.cc 第 133 行定义.

                                                                           {
  int id = obstacle_ptr->id();
  std::vector<double> obstacle_feature_values;
 
  SetObstacleFeatureValues(obstacle_ptr, &obstacle_feature_values);
 
  if (obstacle_feature_values.size() != OBSTACLE_FEATURE_SIZE) {
    ADEBUG << "Obstacle [" << id << "] has fewer than "
           << "expected obstacle feature_values "
           << obstacle_feature_values.size() << ".";
    return;
  }
 
  std::vector<double> lane_feature_values;
  SetLaneFeatureValues(obstacle_ptr, lane_sequence_ptr, &lane_feature_values);
  if (lane_feature_values.size() != LANE_FEATURE_SIZE) {
    ADEBUG << "Obstacle [" << id << "] has fewer than "
           << "expected lane feature_values" << lane_feature_values.size()
           << ".";
    return;
  }
 
  feature_values->insert(feature_values->end(), obstacle_feature_values.begin(),
                         obstacle_feature_values.end());
  feature_values->insert(feature_values->end(), lane_feature_values.begin(),
                         lane_feature_values.end());
}

◆ GetName()

std::string apollo::prediction::MLPEvaluator::GetName ( )

inlineoverridevirtual

Get the name of evaluator.

实现了 apollo::prediction::Evaluator.

在文件 mlp_evaluator.h 第 62 行定义.

62{ return "MLP_EVALUATOR"; }

该类的文档由以下文件生成:

modules/prediction/evaluator/vehicle/mlp_evaluator.h
modules/prediction/evaluator/vehicle/mlp_evaluator.cc

Public 成员函数

额外继承的成员函数