net_model.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/network/net_layer.h"
#include "modules/prediction/proto/network_model.pb.h"
 
namespace apollo {
namespace prediction {
namespace network {
 
class NetModel {
 public:
  NetModel() = default;
 
  virtual ~NetModel() = default;
 
  virtual void Run(const std::vector<Eigen::MatrixXf>& inputs,
                   Eigen::MatrixXf* output) const = 0;
 
  virtual void SetState(const std::vector<Eigen::MatrixXf>& states) {}
 
  virtual void State(std::vector<Eigen::MatrixXf>* states) const {}
 
  virtual void ResetState() const {}
 
  bool LoadModel(const NetParameter& net_parameter);
 
  std::string PerformanceString() const;
 
  const std::string& Name() const;
 
  int Id() const;
 
  bool IsOk() const;
 
 protected:
  std::vector<std::unique_ptr<Layer>> layers_;
  NetParameter net_parameter_;
  bool ok_ = false;
};
 
}  // namespace network
}  // namespace prediction
}  // namespace apollo