apollo::prediction::PredictorManager类 参考

#include <predictor_manager.h>

apollo::prediction::PredictorManager 的协作图:

Public 成员函数
	PredictorManager ()
	Constructor
virtual	~PredictorManager ()=default
	Destructor
void	Init (const PredictionConf &config)
	Initializer
Predictor *	GetPredictor (const ObstacleConf::PredictorType &type)
	Get predictor
void	Run (const apollo::perception::PerceptionObstacles &perception_obstacles, const ADCTrajectoryContainer *adc_trajectory_container, ObstaclesContainer *obstacles_container)
	Execute the predictor generation
void	PredictObstacle (const ADCTrajectoryContainer *adc_trajectory_container, Obstacle *obstacle, ObstaclesContainer *obstacles_container, PredictionObstacle *const prediction_obstacle)
	Predict a single obstacle
const PredictionObstacles &	prediction_obstacles ()
	Get prediction obstacles

详细描述

在文件 predictor_manager.h 第 38 行定义.

构造及析构函数说明

PredictorManager()

apollo::prediction::PredictorManager::PredictorManager

(

)

Constructor

在文件 predictor_manager.cc 第 60 行定义.

{ RegisterPredictors(); }

~PredictorManager()

virtual apollo::prediction::PredictorManager::~PredictorManager ( )

virtualdefault

Destructor

成员函数说明

GetPredictor()

Predictor * apollo::prediction::PredictorManager::GetPredictor

(

const ObstacleConf::PredictorType &

type

)

Get predictor

返回

Pointer to the predictor

在文件 predictor_manager.cc 第 124 行定义.

                                           {
  auto it = predictors_.find(type);
  return it != predictors_.end() ? it->second.get() : nullptr;
}

Init()

void apollo::prediction::PredictorManager::Init

(

const PredictionConf &

config

)

Initializer

参数

Prediction

config

在文件 predictor_manager.cc 第 73 行定义.

                                                        {
  for (const auto& conf : config.obstacle_conf()) {
    if (!conf.has_obstacle_type()) {
      AERROR << "Obstacle config [" << conf.ShortDebugString()
             << "] has not defined obstacle type.";
      continue;
    }
 
    if (!conf.has_predictor_type()) {
      AERROR << "Obstacle config [" << conf.ShortDebugString()
             << "] has not defined predictor type.";
      continue;
    }
 
    switch (conf.obstacle_type()) {
      case PerceptionObstacle::VEHICLE: {
        InitVehiclePredictors(conf);
        break;
      }
      case PerceptionObstacle::BICYCLE: {
        InitCyclistPredictors(conf);
        break;
      }
      case PerceptionObstacle::PEDESTRIAN: {
        pedestrian_predictor_ = conf.predictor_type();
        break;
      }
      case PerceptionObstacle::UNKNOWN: {
        InitDefaultPredictors(conf);
        break;
      }
      default: { break; }
    }
  }
 
  AINFO << "Defined vehicle on lane obstacle predictor ["
        << vehicle_on_lane_predictor_ << "].";
  AINFO << "Defined vehicle off lane obstacle predictor ["
        << vehicle_off_lane_predictor_ << "].";
  AINFO << "Defined bicycle on lane obstacle predictor ["
        << cyclist_on_lane_predictor_ << "].";
  AINFO << "Defined bicycle off lane obstacle predictor ["
        << cyclist_off_lane_predictor_ << "].";
  AINFO << "Defined pedestrian obstacle predictor [" << pedestrian_predictor_
        << "].";
  AINFO << "Defined default on lane obstacle predictor ["
        << default_on_lane_predictor_ << "].";
  AINFO << "Defined default off lane obstacle predictor ["
        << default_off_lane_predictor_ << "].";
}

prediction_obstacles()

const PredictionObstacles & apollo::prediction::PredictorManager::prediction_obstacles

(

)

Get prediction obstacles

返回

Prediction obstacles

在文件 predictor_manager.cc 第 347 行定义.

                                                                  {
  return prediction_obstacles_;
}

PredictObstacle()

void apollo::prediction::PredictorManager::PredictObstacle	(	const ADCTrajectoryContainer *	adc_trajectory_container,
		Obstacle *	obstacle,
		ObstaclesContainer *	obstacles_container,
		PredictionObstacle *const	prediction_obstacle
	)

Predict a single obstacle

参数

A	pointer to adc_trajectory_container
A	pointer to the specific obstacle
A	pointer to the obstacles container
A	pointer to prediction_obstacle

在文件 predictor_manager.cc 第 232 行定义.

                                                   {
  CHECK_NOTNULL(obstacle);
  prediction_obstacle->set_timestamp(obstacle->timestamp());
 
  if (obstacle->ToIgnore()) {
    ADEBUG << "Ignore obstacle [" << obstacle->id() << "]";
    RunEmptyPredictor(adc_trajectory_container, obstacle, obstacles_container);
    prediction_obstacle->mutable_priority()->set_priority(
        ObstaclePriority::IGNORE);
  } else if (obstacle->IsStill()) {
    ADEBUG << "Still obstacle [" << obstacle->id() << "]";
    RunEmptyPredictor(adc_trajectory_container, obstacle, obstacles_container);
  } else {
    switch (obstacle->type()) {
      case PerceptionObstacle::VEHICLE: {
        if (FLAGS_enable_multi_agent_vehicle_evaluator) {
          RunEmptyPredictor(adc_trajectory_container, obstacle,
                            obstacles_container);
        } else {
          RunVehiclePredictor(adc_trajectory_container, obstacle,
                              obstacles_container);
        }
        break;
      }
      case PerceptionObstacle::PEDESTRIAN: {
        if (FLAGS_enable_multi_agent_pedestrian_evaluator) {
          RunEmptyPredictor(adc_trajectory_container, obstacle,
                            obstacles_container);
        } else {
          RunPedestrianPredictor(adc_trajectory_container, obstacle,
                                 obstacles_container);
        }
        break;
      }
      case PerceptionObstacle::BICYCLE: {
        RunCyclistPredictor(adc_trajectory_container, obstacle,
                            obstacles_container);
        break;
      }
      default: {
        RunDefaultPredictor(adc_trajectory_container, obstacle,
                            obstacles_container);
        break;
      }
    }
  }
 
  for (const auto& trajectory :
       obstacle->latest_feature().predicted_trajectory()) {
    prediction_obstacle->add_trajectory()->CopyFrom(trajectory);
  }
  prediction_obstacle->set_timestamp(obstacle->timestamp());
  prediction_obstacle->mutable_priority()->CopyFrom(
      obstacle->latest_feature().priority());
  prediction_obstacle->mutable_interactive_tag()->CopyFrom(
      obstacle->latest_feature().interactive_tag());
  prediction_obstacle->set_is_static(obstacle->IsStill());
  if (FLAGS_prediction_offline_mode ==
      PredictionConstants::kDumpPredictionResult) {
    const Scenario& scenario = obstacles_container->curr_scenario();
    FeatureOutput::InsertPredictionResult(obstacle, *prediction_obstacle,
                                          obstacle->obstacle_conf(), scenario);
  }
}

Run()

void apollo::prediction::PredictorManager::Run	(	const apollo::perception::PerceptionObstacles &	perception_obstacles,
		const ADCTrajectoryContainer *	adc_trajectory_container,
		ObstaclesContainer *	obstacles_container
	)

Execute the predictor generation

参数

Adc	trajectory container
Obstacles	container

在文件 predictor_manager.cc 第 130 行定义.

                                             {
  prediction_obstacles_.Clear();
 
  if (FLAGS_enable_multi_thread) {
    PredictObstaclesInParallel(perception_obstacles, adc_trajectory_container,
                               obstacles_container);
  } else {
    PredictObstacles(perception_obstacles, adc_trajectory_container,
                     obstacles_container);
  }
}

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该类的文档由以下文件生成:

• modules/prediction/predictor/predictor_manager.h
• modules/prediction/predictor/predictor_manager.cc