obstacles_container.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/common/util/lru_cache.h"
#include "modules/prediction/common/junction_analyzer.h"
#include "modules/prediction/container/container.h"
#include "modules/prediction/container/obstacles/obstacle.h"
#include "modules/prediction/container/obstacles/obstacle_clusters.h"
#include "modules/common_msgs/prediction_msgs/prediction_obstacle.pb.h"
#include "modules/prediction/submodules/submodule_output.h"
 
namespace apollo {
namespace prediction {
 
class ObstaclesContainer : public Container {
 public:
  ObstaclesContainer();
 
  explicit ObstaclesContainer(const SubmoduleOutput& submodule_output);
 
  virtual ~ObstaclesContainer() = default;
 
  void Insert(const ::google::protobuf::Message& message) override;
 
  void InsertPerceptionObstacle(
      const perception::PerceptionObstacle& perception_obstacle,
      const double timestamp);
 
  void InsertFeatureProto(const Feature& feature);
 
  void BuildLaneGraph();
 
  void BuildJunctionFeature();
 
  Obstacle* GetObstacle(const int id);
 
  void Clear();
 
  void CleanUp();
 
  size_t NumOfObstacles() { return ptr_obstacles_.size(); }
 
  const apollo::perception::PerceptionObstacle& GetPerceptionObstacle(
      const int id);
 
  const std::vector<int>& curr_frame_movable_obstacle_ids();
 
  const std::vector<int>& curr_frame_unmovable_obstacle_ids();
 
  const std::vector<int>& curr_frame_considered_obstacle_ids();
 
  /*
   * @brief Set non-ignore obstacle IDs in the current frame
   */
  void SetConsideredObstacleIds();
 
  std::vector<int> curr_frame_obstacle_ids();
 
  double timestamp() const;
 
  SubmoduleOutput GetSubmoduleOutput(
      const size_t history_size, const apollo::cyber::Time& frame_start_time);
 
  const Scenario& curr_scenario() const;
 
  ObstacleClusters* GetClustersPtr() const;
  JunctionAnalyzer* GetJunctionAnalyzer();
 
 private:
  Obstacle* GetObstacleWithLRUUpdate(const int obstacle_id);
 
  bool IsMovable(const perception::PerceptionObstacle& perception_obstacle);
 
 private:
  double timestamp_ = -1.0;
  common::util::LRUCache<int, std::unique_ptr<Obstacle>> ptr_obstacles_;
  std::vector<int> curr_frame_movable_obstacle_ids_;
  std::vector<int> curr_frame_unmovable_obstacle_ids_;
  std::vector<int> curr_frame_considered_obstacle_ids_;
  Scenario curr_scenario_;
  std::unique_ptr<ObstacleClusters> clusters_;
  JunctionAnalyzer junction_analyzer_;
};
 
}  // namespace prediction
}  // namespace apollo