apollo::prediction::PredictionComponent类 参考

#include <prediction_component.h>

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

apollo::prediction::PredictionComponent 的协作图:

Public 成员函数
	~PredictionComponent ()
	Destructor
std::string	Name () const
	Get name of the node
bool	Init () override
	Initialize the node
bool	Proc (const std::shared_ptr< perception::PerceptionObstacles > &) override
	Data callback upon receiving a perception obstacle message.
void	OfflineProcessFeatureProtoFile (const std::string &features_proto_file)
	Load and process feature proto file.
Public 成员函数 继承自 apollo::cyber::Component< perception::PerceptionObstacles >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< perception::PerceptionObstacles > &msg0, const std::shared_ptr< NullType > &msg1, const std::shared_ptr< NullType > &msg2, const std::shared_ptr< NullType > &msg3)
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const TimerComponentConfig &config)
virtual void	Shutdown ()
template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >
Protected 成员函数 继承自 apollo::cyber::ComponentBase
virtual void	Clear ()
const std::string &	ConfigFilePath () const
void	LoadConfigFiles (const ComponentConfig &config)
void	LoadConfigFiles (const TimerComponentConfig &config)
Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}
std::shared_ptr< Node >	node_ = nullptr
std::string	config_file_path_ = ""
std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 prediction_component.h 第 41 行定义.

构造及析构函数说明

~PredictionComponent()

apollo::prediction::PredictionComponent::~PredictionComponent

(

)

Destructor

在文件 prediction_component.cc 第 45 行定义.

{}

成员函数说明

Init()

bool apollo::prediction::PredictionComponent::Init ( )

overridevirtual

Initialize the node

返回

If initialized

实现了 apollo::cyber::ComponentBase.

在文件 prediction_component.cc 第 70 行定义.

                               {
  component_start_time_ = Clock::NowInSeconds();
 
  container_manager_ = std::make_shared<ContainerManager>();
  evaluator_manager_.reset(new EvaluatorManager());
  predictor_manager_.reset(new PredictorManager());
  scenario_manager_.reset(new ScenarioManager());
 
  PredictionConf prediction_conf;
  if (!ComponentBase::GetProtoConfig(&prediction_conf)) {
    AERROR << "Unable to load prediction conf file: "
           << ComponentBase::ConfigFilePath();
    return false;
  }
  ADEBUG << "Prediction config file is loaded into: "
         << prediction_conf.ShortDebugString();
 
  if (!MessageProcess::Init(container_manager_.get(), evaluator_manager_.get(),
                            predictor_manager_.get(), prediction_conf)) {
    return false;
  }
 
  planning_reader_ = node_->CreateReader<ADCTrajectory>(
      prediction_conf.topic_conf().planning_trajectory_topic(), nullptr);
 
  localization_reader_ =
      node_->CreateReader<localization::LocalizationEstimate>(
          prediction_conf.topic_conf().localization_topic(), nullptr);
 
  storytelling_reader_ = node_->CreateReader<storytelling::Stories>(
      prediction_conf.topic_conf().storytelling_topic(), nullptr);
 
  prediction_writer_ = node_->CreateWriter<PredictionObstacles>(
      prediction_conf.topic_conf().prediction_topic());
 
  container_writer_ = node_->CreateWriter<SubmoduleOutput>(
      prediction_conf.topic_conf().container_topic_name());
 
  adc_container_writer_ = node_->CreateWriter<ADCTrajectoryContainer>(
      prediction_conf.topic_conf().adccontainer_topic_name());
 
  perception_obstacles_writer_ = node_->CreateWriter<PerceptionObstacles>(
      prediction_conf.topic_conf().perception_obstacles_topic_name());
 
  return true;
}

Name()

std::string apollo::prediction::PredictionComponent::Name

(

)

const

Get name of the node

返回

Name of the node

在文件 prediction_component.cc 第 47 行定义.

                                          {
  return FLAGS_prediction_module_name;
}

OfflineProcessFeatureProtoFile()

void apollo::prediction::PredictionComponent::OfflineProcessFeatureProtoFile

(

const std::string &

features_proto_file

)

Load and process feature proto file.

参数

a	bin file including a sequence of feature proto.

在文件 prediction_component.cc 第 51 行定义.

                                               {
  auto obstacles_container_ptr =
      container_manager_->GetContainer<ObstaclesContainer>(
          AdapterConfig::PERCEPTION_OBSTACLES);
  obstacles_container_ptr->Clear();
  Features features;
  apollo::cyber::common::GetProtoFromBinaryFile(features_proto_file_name,
                                                &features);
  for (const Feature& feature : features.feature()) {
    obstacles_container_ptr->InsertFeatureProto(feature);
    Obstacle* obstacle_ptr = obstacles_container_ptr->GetObstacle(feature.id());
    if (!obstacle_ptr) {
      continue;
    }
    evaluator_manager_->EvaluateObstacle(obstacle_ptr, obstacles_container_ptr);
  }
}

Proc()

bool apollo::prediction::PredictionComponent::Proc ( const std::shared_ptr< perception::PerceptionObstacles > &  )

override

Data callback upon receiving a perception obstacle message.

参数

Perception

obstacle message.

在文件 prediction_component.cc 第 117 行定义.

                                                                    {
  if (FLAGS_use_lego) {
    return ContainerSubmoduleProcess(perception_obstacles);
  }
  return PredictionEndToEndProc(perception_obstacles);
}

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该类的文档由以下文件生成:

• modules/prediction/prediction_component.h
• modules/prediction/prediction_component.cc