#include <obstacles_container.h>

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

apollo::prediction::ObstaclesContainer 的协作图:

Public 成员函数
	ObstaclesContainer ()
	Constructor

	ObstaclesContainer (const SubmoduleOutput &submodule_output)
	Constructor from container output

virtual	~ObstaclesContainer ()=default
	Destructor

void	Insert (const ::google::protobuf::Message &message) override
	Insert a data message into the container

void	InsertPerceptionObstacle (const perception::PerceptionObstacle &perception_obstacle, const double timestamp)
	Insert an perception obstacle

void	InsertFeatureProto (const Feature &feature)
	Insert a feature proto message into the container

void	BuildLaneGraph ()
	Build lane graph for obstacles

void	BuildJunctionFeature ()
	Build junction feature for obstacles

Obstacle *	GetObstacle (const int id)
	Get obstacle pointer

void	Clear ()
	Clear obstacle container

void	CleanUp ()

size_t	NumOfObstacles ()

const apollo::perception::PerceptionObstacle &	GetPerceptionObstacle (const int id)

const std::vector< int > &	curr_frame_movable_obstacle_ids ()
	Get movable obstacle IDs in the current frame

const std::vector< int > &	curr_frame_unmovable_obstacle_ids ()
	Get unmovable obstacle IDs in the current frame

const std::vector< int > &	curr_frame_considered_obstacle_ids ()
	Get non-ignore obstacle IDs in the current frame

void	SetConsideredObstacleIds ()

std::vector< int >	curr_frame_obstacle_ids ()
	Get current frame obstacle IDs in the current frame

double	timestamp () const

SubmoduleOutput	GetSubmoduleOutput (const size_t history_size, const apollo::cyber::Time &frame_start_time)

const Scenario &	curr_scenario () const
	Get current scenario

ObstacleClusters *	GetClustersPtr () const
	Get the raw pointer of clusters_

JunctionAnalyzer *	GetJunctionAnalyzer ()

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

virtual	~Container ()=default
	Destructor

详细描述

在文件 obstacles_container.h 第 39 行定义.

构造及析构函数说明

◆ ObstaclesContainer() [1/2]

apollo::prediction::ObstaclesContainer::ObstaclesContainer ( )

Constructor

在文件 obstacles_container.cc 第 35 行定义.

36 : ptr_obstacles_(FLAGS_max_num_obstacles),

37 clusters_(new ObstacleClusters()) {}

◆ ObstaclesContainer() [2/2]

apollo::prediction::ObstaclesContainer::ObstaclesContainer ( const SubmoduleOutput & submodule_output )

explicit

Constructor from container output

在文件 obstacles_container.cc 第 39 行定义.

    : ptr_obstacles_(FLAGS_max_num_obstacles),
      clusters_(new ObstacleClusters()) {
  for (const Obstacle& obstacle : submodule_output.curr_frame_obstacles()) {
    // Deep copy of obstacle is needed for modification
    std::unique_ptr<Obstacle> ptr_obstacle(new Obstacle(obstacle));
    ptr_obstacle->SetJunctionAnalyzer(&junction_analyzer_);
    ptr_obstacles_.Put(obstacle.id(), std::move(ptr_obstacle));
  }
 
  Obstacle ego_vehicle = submodule_output.GetEgoVehicle();
  std::unique_ptr<Obstacle> ptr_ego_vehicle(
      new Obstacle(std::move(ego_vehicle)));
  ptr_ego_vehicle->SetJunctionAnalyzer(&junction_analyzer_);
  ptr_obstacles_.Put(ego_vehicle.id(), std::move(ptr_ego_vehicle));
 
  curr_frame_movable_obstacle_ids_ =
      submodule_output.curr_frame_movable_obstacle_ids();
  curr_frame_unmovable_obstacle_ids_ =
      submodule_output.curr_frame_unmovable_obstacle_ids();
  curr_frame_considered_obstacle_ids_ =
      submodule_output.curr_frame_considered_obstacle_ids();
  curr_scenario_ = submodule_output.curr_scenario();
}

◆ ~ObstaclesContainer()

virtual apollo::prediction::ObstaclesContainer::~ObstaclesContainer ( )

virtualdefault

Destructor

成员函数说明

◆ BuildJunctionFeature()

void apollo::prediction::ObstaclesContainer::BuildJunctionFeature ( )

Build junction feature for obstacles

在文件 obstacles_container.cc 第 312 行定义.

                                              {
  // Go through every obstacle in the current frame, after some
  // sanity checks, build junction features for those that are in junction.
  for (const int id : curr_frame_considered_obstacle_ids_) {
    Obstacle* obstacle_ptr = GetObstacle(id);
    if (obstacle_ptr == nullptr) {
      AERROR << "Null obstacle found.";
      continue;
    }
    const std::string& junction_id = junction_analyzer_.GetJunctionId();
    if (obstacle_ptr->IsInJunction(junction_id)) {
      AINFO << "Build junction feature for obstacle [" << obstacle_ptr->id()
             << "] in junction [" << junction_id << "]";
      obstacle_ptr->BuildJunctionFeature();
    }
  }
}

◆ BuildLaneGraph()

void apollo::prediction::ObstaclesContainer::BuildLaneGraph ( )

Build lane graph for obstacles

在文件 obstacles_container.cc 第 281 行定义.

                                        {
  // Go through every obstacle in the current frame, after some
  // sanity checks, build lane graph for non-junction cases.
  for (const int id : curr_frame_considered_obstacle_ids_) {
    Obstacle* obstacle_ptr = GetObstacle(id);
    if (obstacle_ptr == nullptr) {
      AERROR << "Null obstacle found.";
      continue;
    }
    if (FLAGS_prediction_offline_mode !=
        PredictionConstants::kDumpDataForLearning) {
      ADEBUG << "Building Lane Graph.";
      obstacle_ptr->BuildLaneGraph();
      obstacle_ptr->BuildLaneGraphFromLeftToRight();
    } else {
      ADEBUG << "Building ordered Lane Graph.";
      ADEBUG << "Building lane graph for id = " << id;
      obstacle_ptr->BuildLaneGraphFromLeftToRight();
    }
    obstacle_ptr->SetNearbyObstacles();
  }
 
  Obstacle* ego_vehicle_ptr = GetObstacle(FLAGS_ego_vehicle_id);
  if (ego_vehicle_ptr == nullptr) {
    AERROR << "Ego vehicle not inserted";
    return;
  }
  ego_vehicle_ptr->BuildLaneGraph();
  ego_vehicle_ptr->SetNearbyObstacles();
}

◆ CleanUp()

void apollo::prediction::ObstaclesContainer::CleanUp ( )

在文件 obstacles_container.cc 第 64 行定义.

                                 {
  // Clean up the history and get the PerceptionObstacles
  curr_frame_movable_obstacle_ids_.clear();
  curr_frame_unmovable_obstacle_ids_.clear();
  curr_frame_considered_obstacle_ids_.clear();
}

◆ Clear()

void apollo::prediction::ObstaclesContainer::Clear ( )

Clear obstacle container

在文件 obstacles_container.cc 第 177 行定义.

                               {
  ptr_obstacles_.Clear();
  timestamp_ = -1.0;
}

◆ curr_frame_considered_obstacle_ids()

const std::vector< int > & apollo::prediction::ObstaclesContainer::curr_frame_considered_obstacle_ids ( )

Get non-ignore obstacle IDs in the current frame

返回: Non-ignore obstacle IDs in the current frame

在文件 obstacles_container.cc 第 192 行定义.

                                                       {
  return curr_frame_considered_obstacle_ids_;
}

◆ curr_frame_movable_obstacle_ids()

const std::vector< int > & apollo::prediction::ObstaclesContainer::curr_frame_movable_obstacle_ids ( )

Get movable obstacle IDs in the current frame

返回: Movable obstacle IDs in the current frame

在文件 obstacles_container.cc 第 182 行定义.

                                                                          {
  return curr_frame_movable_obstacle_ids_;
}

◆ curr_frame_obstacle_ids()

std::vector< int > apollo::prediction::ObstaclesContainer::curr_frame_obstacle_ids ( )

Get current frame obstacle IDs in the current frame

返回: Current frame obstacle IDs in the current frame

在文件 obstacles_container.cc 第 212 行定义.

                                                           {
  std::vector<int> curr_frame_obs_ids = curr_frame_movable_obstacle_ids_;
  curr_frame_obs_ids.insert(curr_frame_obs_ids.end(),
                            curr_frame_unmovable_obstacle_ids_.begin(),
                            curr_frame_unmovable_obstacle_ids_.end());
  return curr_frame_obs_ids;
}

◆ curr_frame_unmovable_obstacle_ids()

const std::vector< int > & apollo::prediction::ObstaclesContainer::curr_frame_unmovable_obstacle_ids ( )

Get unmovable obstacle IDs in the current frame

返回: unmovable obstacle IDs in the current frame

在文件 obstacles_container.cc 第 187 行定义.

                                                      {
  return curr_frame_unmovable_obstacle_ids_;
}

◆ curr_scenario()

const Scenario & apollo::prediction::ObstaclesContainer::curr_scenario ( ) const

Get current scenario

在文件 obstacles_container.cc 第 371 行定义.

                                                        {
  return curr_scenario_;
}

◆ GetClustersPtr()

ObstacleClusters * apollo::prediction::ObstaclesContainer::GetClustersPtr ( ) const

Get the raw pointer of clusters_

在文件 obstacles_container.cc 第 375 行定义.

                                                           {
  return clusters_.get();
}

◆ GetJunctionAnalyzer()

JunctionAnalyzer * apollo::prediction::ObstaclesContainer::GetJunctionAnalyzer ( )

在文件 obstacles_container.cc 第 378 行定义.

                                                          {
  return &junction_analyzer_;
}

◆ GetObstacle()

Obstacle * apollo::prediction::ObstaclesContainer::GetObstacle ( const int id )

Get obstacle pointer

参数

Obstacle ID

返回: Obstacle pointer

在文件 obstacles_container.cc 第 161 行定义.

                                                      {
  auto ptr_obstacle = ptr_obstacles_.GetSilently(id);
  if (ptr_obstacle != nullptr) {
    return ptr_obstacle->get();
  }
  return nullptr;
}

◆ GetPerceptionObstacle()

const apollo::perception::PerceptionObstacle & apollo::prediction::ObstaclesContainer::GetPerceptionObstacle ( const int id )

◆ GetSubmoduleOutput()

SubmoduleOutput apollo::prediction::ObstaclesContainer::GetSubmoduleOutput	(	const size_t	history_size,
		const apollo::cyber::Time &	frame_start_time
	)

在文件 obstacles_container.cc 第 341 行定义.

                                                                        {
  SubmoduleOutput container_output;
  for (int id : curr_frame_considered_obstacle_ids_) {
    Obstacle* obstacle = GetObstacle(id);
    if (obstacle == nullptr) {
      AERROR << "Nullptr found for obstacle [" << id << "]";
      continue;
    }
    obstacle->TrimHistory(history_size);
    obstacle->ClearOldInformation();
    container_output.InsertObstacle(std::move(*obstacle));
  }
 
  Obstacle* ego_obstacle = GetObstacle(FLAGS_ego_vehicle_id);
  if (ego_obstacle != nullptr) {
    container_output.InsertEgoVehicle(std::move(*ego_obstacle));
  }
 
  container_output.set_curr_frame_movable_obstacle_ids(
      curr_frame_movable_obstacle_ids_);
  container_output.set_curr_frame_unmovable_obstacle_ids(
      curr_frame_unmovable_obstacle_ids_);
  container_output.set_curr_frame_considered_obstacle_ids(
      curr_frame_considered_obstacle_ids_);
  container_output.set_frame_start_time(frame_start_time);
 
  return container_output;
}

◆ Insert()

void apollo::prediction::ObstaclesContainer::Insert ( const ::google::protobuf::Message & message )

overridevirtual

Insert a data message into the container

参数

Data	message to be inserted in protobuf

实现了 apollo::prediction::Container.

在文件 obstacles_container.cc 第 73 行定义.

                                                                    {
  PerceptionObstacles perception_obstacles;
  perception_obstacles.CopyFrom(
      dynamic_cast<const PerceptionObstacles&>(message));
 
  // Get the new timestamp and update it in the class
  // - If it's more than 10sec later than the most recent one, clear the
  //   obstacle history.
  // - If it's not a valid time (earlier than history), continue.
  // - Also consider the offline_mode case.
  double timestamp = 0.0;
  if (perception_obstacles.has_header() &&
      perception_obstacles.header().has_timestamp_sec()) {
    timestamp = perception_obstacles.header().timestamp_sec();
  }
  if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap) {
    ptr_obstacles_.Clear();
    ADEBUG << "Replay mode is enabled.";
  } else if (timestamp <= timestamp_) {
    AERROR << "Invalid timestamp curr [" << timestamp << "] v.s. prev ["
           << timestamp_ << "].";
    return;
  }
 
  switch (FLAGS_prediction_offline_mode) {
    case 1: {
      if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap ||
          FeatureOutput::Size() > FLAGS_max_num_dump_feature) {
        FeatureOutput::WriteFeatureProto();
      }
      break;
    }
    case 2: {
      if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap ||
          FeatureOutput::SizeOfDataForLearning() >
              FLAGS_max_num_dump_dataforlearn) {
        FeatureOutput::WriteDataForLearning();
      }
      break;
    }
    case 3: {
      if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap ||
          FeatureOutput::SizeOfPredictionResult() >
              FLAGS_max_num_dump_feature) {
        FeatureOutput::WritePredictionResult();
      }
      break;
    }
    case 4: {
      if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap ||
          FeatureOutput::SizeOfFrameEnv() > FLAGS_max_num_dump_feature) {
        FeatureOutput::WriteFrameEnv();
      }
      break;
    }
    case 5: {
      if (std::fabs(timestamp - timestamp_) > FLAGS_replay_timestamp_gap ||
          FeatureOutput::SizeOfFrameEnv() > FLAGS_max_num_dump_feature) {
        FeatureOutput::WriteDataForTuning();
      }
      break;
    }
    default: {
      // No data dump
      FeatureOutput::Clear();
      break;
    }
  }
 
  timestamp_ = timestamp;
  ADEBUG << "Current timestamp is [" << std::fixed << std::setprecision(6)
         << timestamp_ << "]";
 
  // Set up the ObstacleClusters:
  // Insert the Obstacles one by one
  for (const PerceptionObstacle& perception_obstacle :
       perception_obstacles.perception_obstacle()) {
    ADEBUG << "Perception obstacle [" << perception_obstacle.id() << "] "
           << "was detected";
    InsertPerceptionObstacle(perception_obstacle, timestamp_);
    ADEBUG << "Perception obstacle [" << perception_obstacle.id() << "] "
           << "was inserted";
  }
 
  SetConsideredObstacleIds();
  clusters_->SortObstacles();
}

◆ InsertFeatureProto()

void apollo::prediction::ObstaclesContainer::InsertFeatureProto ( const Feature & feature )

Insert a feature proto message into the container

参数

feature proto message

在文件 obstacles_container.cc 第 261 行定义.

                                                                  {
  if (!feature.has_id()) {
    AERROR << "Invalid feature, no ID found.";
    return;
  }
  int id = feature.id();
  auto obstacle_ptr = GetObstacleWithLRUUpdate(id);
  if (obstacle_ptr != nullptr) {
    obstacle_ptr->InsertFeature(feature);
  } else {
    auto ptr_obstacle = Obstacle::Create(feature, clusters_.get());
    if (ptr_obstacle == nullptr) {
      AERROR << "Failed to insert obstacle into container";
      return;
    }
    ptr_obstacle->SetJunctionAnalyzer(&junction_analyzer_);
    ptr_obstacles_.Put(id, std::move(ptr_obstacle));
  }
}

◆ InsertPerceptionObstacle()

void apollo::prediction::ObstaclesContainer::InsertPerceptionObstacle	(	const perception::PerceptionObstacle &	perception_obstacle,
		const double	timestamp
	)

Insert an perception obstacle

参数

Perception obstacle Timestamp

在文件 obstacles_container.cc 第 220 行定义.

                                                                           {
  // Sanity checks.
  int id = perception_obstacle.id();
  if (id < FLAGS_ego_vehicle_id) {
    AERROR << "Invalid ID [" << id << "]";
    return;
  }
  if (!IsMovable(perception_obstacle)) {
    ADEBUG << "Perception obstacle [" << perception_obstacle.id()
           << "] is unmovable.";
    curr_frame_unmovable_obstacle_ids_.push_back(id);
    return;
  }
 
  // Insert the obstacle and also update the LRUCache.
  auto obstacle_ptr = GetObstacleWithLRUUpdate(id);
  if (obstacle_ptr != nullptr) {
    ADEBUG << "Current time = " << std::fixed << std::setprecision(6)
           << timestamp;
    obstacle_ptr->Insert(perception_obstacle, timestamp, id);
    ADEBUG << "Refresh obstacle [" << id << "]";
  } else {
    auto ptr_obstacle =
        Obstacle::Create(perception_obstacle, timestamp, id, clusters_.get());
    if (ptr_obstacle == nullptr) {
      AERROR << "Failed to insert obstacle into container";
      return;
    }
    ptr_obstacle->SetJunctionAnalyzer(&junction_analyzer_);
    ptr_obstacles_.Put(id, std::move(ptr_obstacle));
    ADEBUG << "Insert obstacle [" << id << "]";
  }
 
  if (FLAGS_prediction_offline_mode ==
          PredictionConstants::kDumpDataForLearning ||
      id != FLAGS_ego_vehicle_id) {
    curr_frame_movable_obstacle_ids_.push_back(id);
  }
}

◆ NumOfObstacles()

size_t apollo::prediction::ObstaclesContainer::NumOfObstacles ( )

inline

在文件 obstacles_container.h 第 101 行定义.

101{ return ptr_obstacles_.size(); }

◆ SetConsideredObstacleIds()

void apollo::prediction::ObstaclesContainer::SetConsideredObstacleIds ( )

在文件 obstacles_container.cc 第 196 行定义.

                                                  {
  curr_frame_considered_obstacle_ids_.clear();
  for (const int id : curr_frame_movable_obstacle_ids_) {
    Obstacle* obstacle_ptr = GetObstacle(id);
    if (obstacle_ptr == nullptr) {
      AERROR << "Null obstacle found.";
      continue;
    }
    if (obstacle_ptr->ToIgnore()) {
      ADEBUG << "Ignore obstacle [" << obstacle_ptr->id() << "]";
      continue;
    }
    curr_frame_considered_obstacle_ids_.push_back(id);
  }
}

◆ timestamp()

double apollo::prediction::ObstaclesContainer::timestamp ( ) const

在文件 obstacles_container.cc 第 339 行定义.

339{ return timestamp_; }

该类的文档由以下文件生成:

modules/prediction/container/obstacles/obstacles_container.h
modules/prediction/container/obstacles/obstacles_container.cc

Public 成员函数

详细描述

构造及析构函数说明

◆ ObstaclesContainer() [1/2]

◆ ObstaclesContainer() [2/2]

◆ ~ObstaclesContainer()

成员函数说明

◆ BuildJunctionFeature()

◆ BuildLaneGraph()

◆ CleanUp()

◆ Clear()

◆ curr_frame_considered_obstacle_ids()

◆ curr_frame_movable_obstacle_ids()

◆ curr_frame_obstacle_ids()

◆ curr_frame_unmovable_obstacle_ids()

◆ curr_scenario()

◆ GetClustersPtr()

◆ GetJunctionAnalyzer()

◆ GetObstacle()

◆ GetPerceptionObstacle()

◆ GetSubmoduleOutput()

◆ Insert()

◆ InsertFeatureProto()

◆ InsertPerceptionObstacle()

◆ NumOfObstacles()

◆ SetConsideredObstacleIds()

◆ timestamp()