feature_extractor.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
 
#include "modules/prediction/common/environment_features.h"
#include "modules/prediction/container/adc_trajectory/adc_trajectory_container.h"
#include "modules/prediction/container/container_manager.h"
#include "modules/prediction/container/pose/pose_container.h"
 
namespace apollo {
namespace prediction {
 
class FeatureExtractor {
 public:
  FeatureExtractor() = delete;
 
  static EnvironmentFeatures ExtractEnvironmentFeatures(
      ContainerManager* container_manager);
 
  FRIEND_TEST(FeatureExtractorTest, junction);
 
 private:
  static void ExtractEgoLaneFeatures(
      EnvironmentFeatures* ptr_environment_features,
      const std::shared_ptr<const hdmap::LaneInfo>& ptr_ego_lane,
      const common::math::Vec2d& ego_position);
 
  static void ExtractNeighborLaneFeatures(
      EnvironmentFeatures* ptr_environment_features,
      const std::shared_ptr<const hdmap::LaneInfo>& ptr_ego_lane,
      const common::math::Vec2d& ego_position);
 
  static void ExtractFrontJunctionFeatures(
      EnvironmentFeatures* ptr_environment_features,
      ContainerManager* container_manager);
 
  static std::shared_ptr<const hdmap::LaneInfo> GetEgoLane(
      const common::Point3D& position, const double heading);
};
 
}  // namespace prediction
}  // namespace apollo