mlp_evaluator.h

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/******************************************************************************
 * Copyright 2017 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 <string>
#include <vector>
 
#include "modules/prediction/container/obstacles/obstacles_container.h"
#include "modules/prediction/evaluator/evaluator.h"
#include "modules/prediction/proto/fnn_vehicle_model.pb.h"
 
namespace apollo {
namespace prediction {
 
class MLPEvaluator : public Evaluator {
 public:
  MLPEvaluator();
 
  virtual ~MLPEvaluator() = default;
 
  bool Evaluate(Obstacle* obstacle_ptr,
                ObstaclesContainer* obstacles_container) override;
 
  void ExtractFeatureValues(Obstacle* obstacle_ptr,
                            LaneSequence* lane_sequence_ptr,
                            std::vector<double>* feature_values);
 
  std::string GetName() override { return "MLP_EVALUATOR"; }
 
  void Clear();
 
 private:
  void SetObstacleFeatureValues(Obstacle* obstacle_ptr,
                                std::vector<double>* feature_values);
 
  void SetLaneFeatureValues(Obstacle* obstacle_ptr,
                            LaneSequence* lane_sequence_ptr,
                            std::vector<double>* feature_values);
 
  void LoadModel(const std::string& model_file);
 
  double ComputeProbability(const std::vector<double>& feature_values);
 
  void SaveOfflineFeatures(LaneSequence* sequence,
                           const std::vector<double>& feature_values);
 
 private:
  static const size_t OBSTACLE_FEATURE_SIZE = 22;
  static const size_t LANE_FEATURE_SIZE = 40;
 
  std::unique_ptr<FnnVehicleModel> model_ptr_;
};
 
}  // namespace prediction
}  // namespace apollo