multi_hm_bipartite_graph_matcher.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 <string>
#include <vector>
 
#include "modules/perception/common/algorithm/graph/gated_hungarian_bigraph_matcher.h"
#include "modules/perception/common/algorithm/graph/secure_matrix.h"
#include "modules/perception/lidar_tracking/interface/base_bipartite_graph_matcher.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class MultiHmBipartiteGraphMatcher : public BaseBipartiteGraphMatcher {
 public:
  MultiHmBipartiteGraphMatcher();
  ~MultiHmBipartiteGraphMatcher();
 
  void Match(const BipartiteGraphMatcherOptions &options,
             std::vector<NodeNodePair> *assignments,
             std::vector<size_t> *unassigned_rows,
             std::vector<size_t> *unassigned_cols);
  std::string Name() const { return "MultiHmBipartiteGraphMatcher"; }
 
 protected:
  algorithm::GatedHungarianMatcher<float> optimizer_;
};  // class MultiHmObjectMatcher
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo