#include <predictor_submodule.h>

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

apollo::prediction::PredictorSubmodule 的协作图:

Public 成员函数
	~PredictorSubmodule ()=default
	Destructor

std::string	Name () const
	Get name of the node

bool	Init () override
	Initialize the node

bool	Proc (const std::shared_ptr< apollo::perception::PerceptionObstacles > &, const std::shared_ptr< ADCTrajectoryContainer > &, const std::shared_ptr< SubmoduleOutput > &) override
	Data callback upon receiving a prediction evaluator output.

Public 成员函数继承自 apollo::cyber::Component< apollo::perception::PerceptionObstacles, ADCTrajectoryContainer, SubmoduleOutput >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< apollo::perception::PerceptionObstacles > &msg0, const std::shared_ptr< ADCTrajectoryContainer > &msg1, const std::shared_ptr< SubmoduleOutput > &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 predictor_submodule.h 第 36 行定义.

构造及析构函数说明

◆ ~PredictorSubmodule()

apollo::prediction::PredictorSubmodule::~PredictorSubmodule ( )

default

Destructor

成员函数说明

◆ Init()

bool apollo::prediction::PredictorSubmodule::Init ( )

overridevirtual

Initialize the node

返回: If initialized

实现了 apollo::cyber::ComponentBase.

在文件 predictor_submodule.cc 第 37 行定义.

                              {
  predictor_manager_.reset(new PredictorManager());
 
  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::InitPredictors(predictor_manager_.get(),
                                      prediction_conf)) {
    return false;
  }
  predictor_writer_ = node_->CreateWriter<PredictionObstacles>(
      prediction_conf.topic_conf().prediction_topic());
  return true;
}

◆ Name()

std::string apollo::prediction::PredictorSubmodule::Name ( ) const

Get name of the node

返回: Name of the node

在文件 predictor_submodule.cc 第 33 行定义.

                                         {
  return FLAGS_evaluator_submodule_name;
}

◆ Proc()

bool apollo::prediction::PredictorSubmodule::Proc	(	const std::shared_ptr< apollo::perception::PerceptionObstacles > &	,
		const std::shared_ptr< ADCTrajectoryContainer > &	,
		const std::shared_ptr< SubmoduleOutput > &
	)

override

Data callback upon receiving a prediction evaluator output.

参数

Prediction	adc trajectory container.
Prediction	evaluator output.

在文件 predictor_submodule.cc 第 57 行定义.

                                                            {
  const apollo::common::Header& perception_header =
      perception_obstacles->header();
  const apollo::common::ErrorCode& perception_error_code =
      perception_obstacles->error_code();
  const apollo::cyber::Time& frame_start_time =
      submodule_output->frame_start_time();
  ObstaclesContainer obstacles_container(*submodule_output);
  predictor_manager_->Run(*perception_obstacles, adc_trajectory_container.get(),
                          &obstacles_container);
  PredictionObstacles prediction_obstacles =
      predictor_manager_->prediction_obstacles();
 
  prediction_obstacles.set_end_timestamp(Clock::NowInSeconds());
  prediction_obstacles.mutable_header()->set_lidar_timestamp(
      perception_header.lidar_timestamp());
  prediction_obstacles.mutable_header()->set_camera_timestamp(
      perception_header.camera_timestamp());
  prediction_obstacles.mutable_header()->set_radar_timestamp(
      perception_header.radar_timestamp());
  prediction_obstacles.set_perception_error_code(perception_error_code);
 
  common::util::FillHeader(node_->Name(), &prediction_obstacles);
  predictor_writer_->Write(prediction_obstacles);
 
  const apollo::cyber::Time& end_time = Clock::Now();
  ADEBUG << "End to end time = "
         << (end_time - frame_start_time).ToSecond() * 1000 << " ms";
 
  return true;
}

该类的文档由以下文件生成:

modules/prediction/submodules/predictor_submodule.h
modules/prediction/submodules/predictor_submodule.cc

Public 成员函数