apollo::prediction::VectorNet类 参考

#include <vector_net.h>

apollo::prediction::VectorNet 的协作图:

Public 成员函数
	VectorNet ()
	~VectorNet ()=default
bool	query (const common::PointENU &center_point, const double obstacle_phi, FeatureVector *const feature_ptr, PidVector *const p_id_ptr)
bool	offline_query (const double obstacle_x, const double obstacle_y, const double obstacle_phi)
bool	offline_query (const double obstacle_x, const double obstacle_y, const double obstacle_phi, const std::string file_name)

详细描述

在文件 vector_net.h 第 56 行定义.

构造及析构函数说明

VectorNet()

apollo::prediction::VectorNet::VectorNet ( )

inline

在文件 vector_net.h 第 58 行定义.

{ apollo::hdmap::HDMapUtil::ReloadMaps(); }

~VectorNet()

apollo::prediction::VectorNet::~VectorNet ( )

default

成员函数说明

offline_query() [1/2]

bool apollo::prediction::VectorNet::offline_query	(	const double	obstacle_x,
		const double	obstacle_y,
		const double	obstacle_phi
	)

在文件 vector_net.cc 第 117 行定义.

                                                         {
  return offline_query(obstacle_x,
                       obstacle_y,
                       obstacle_phi,
                       FLAGS_prediction_target_file);
}

offline_query() [2/2]

bool apollo::prediction::VectorNet::offline_query	(	const double	obstacle_x,
		const double	obstacle_y,
		const double	obstacle_phi,
		const std::string	file_name
	)

在文件 vector_net.cc 第 125 行定义.

                                                         {
  FeatureVector offline_feature;
  PidVector p_id;
  common::PointENU center_point =
      common::util::PointFactory::ToPointENU(obstacle_x, obstacle_y);
  query(center_point, obstacle_phi, &offline_feature, &p_id);
 
  apollo::prediction::VectorNetFeature vector_net_pb_;
  vector_net_pb_.mutable_car_position()->set_x(obstacle_x);
  vector_net_pb_.mutable_car_position()->set_y(obstacle_y);
  vector_net_pb_.mutable_car_position()->set_phi(obstacle_phi);
 
  size_t i = 0;
  for (const auto& polyline : offline_feature) {
    auto* polyline_pb = vector_net_pb_.add_polyline();
    polyline_pb->set_p_id_x(p_id[i][0]);
    polyline_pb->set_p_id_y(p_id[i][1]);
    i++;
    for (const auto& vector : polyline) {
      auto* vector_pb = polyline_pb->add_vector();
      for (const auto& element : vector) {
        vector_pb->add_element(element);
      }
    }
  }
  cyber::common::SetProtoToASCIIFile(vector_net_pb_,
                                     file_name);
 
  return true;
}

query()

bool apollo::prediction::VectorNet::query	(	const common::PointENU &	center_point,
		const double	obstacle_phi,
		FeatureVector *const	feature_ptr,
		PidVector *const	p_id_ptr
	)

在文件 vector_net.cc 第 104 行定义.

                                                 {
  CHECK_NOTNULL(feature_ptr);
  count_ = 0;
  GetRoads(center_point, obstacle_phi, feature_ptr, p_id_ptr);
  GetLanes(center_point, obstacle_phi, feature_ptr, p_id_ptr);
  GetJunctions(center_point, obstacle_phi, feature_ptr, p_id_ptr);
  GetCrosswalks(center_point, obstacle_phi, feature_ptr, p_id_ptr);
  return true;
}

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该类的文档由以下文件生成:

• modules/prediction/pipeline/vector_net.h
• modules/prediction/pipeline/vector_net.cc