pbf_tracker.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 <string>
 
#include "modules/perception/multi_sensor_fusion/proto/pbf_tracker_config.pb.h"
 
#include "cyber/common/macros.h"
#include "modules/perception/multi_sensor_fusion/interface/base_existence_fusion.h"
#include "modules/perception/multi_sensor_fusion/interface/base_motion_fusion.h"
#include "modules/perception/multi_sensor_fusion/interface/base_shape_fusion.h"
#include "modules/perception/multi_sensor_fusion/interface/base_tracker.h"
#include "modules/perception/multi_sensor_fusion/interface/base_type_fusion.h"
 
namespace apollo {
namespace perception {
namespace fusion {
 
class PbfTracker : public BaseTracker {
 public:
  PbfTracker() = default;
  virtual ~PbfTracker() = default;
 
  static bool InitParams(const TrackerInitOptions &options);
 
  bool Init(TrackPtr track, SensorObjectPtr measurement) override;
 
  void UpdateWithMeasurement(const TrackerOptions& options,
                             const SensorObjectPtr measurement,
                             double target_timestamp) override;
 
  void UpdateWithoutMeasurement(const TrackerOptions& options,
                                const std::string& sensor_id,
                                double measurement_timestamp,
                                double target_timestamp) override;
 
  std::string Name() const override { return "PbfTracker"; }
 
 protected:
  bool InitMethods();
 
 protected:
  static std::string s_type_fusion_method_;
  static std::string s_motion_fusion_method_;
  static std::string s_shape_fusion_method_;
  static std::string s_existence_fusion_method_;
 
  std::unique_ptr<BaseTypeFusion> type_fusion_ = nullptr;
  std::unique_ptr<BaseMotionFusion> motion_fusion_ = nullptr;
  std::unique_ptr<BaseExistenceFusion> existence_fusion_ = nullptr;
  std::unique_ptr<BaseShapeFusion> shape_fusion_ = nullptr;
 
  DISALLOW_COPY_AND_ASSIGN(PbfTracker);
};
 
}  // namespace fusion
}  // namespace perception
}  // namespace apollo