feature_output.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 <mutex>
#include <string>
#include <vector>
 
#include "modules/prediction/container/obstacles/obstacle.h"
#include "modules/prediction/proto/offline_features.pb.h"
#include "modules/common_msgs/prediction_msgs/prediction_obstacle.pb.h"
 
namespace apollo {
namespace prediction {
 
class FeatureOutput {
 public:
  FeatureOutput() = delete;
 
  static void Close();
 
  static void Clear();
 
  static bool Ready();
 
  static void InsertFeatureProto(const Feature& feature);
 
  static void InsertDataForLearning(const Feature& feature,
                                    const std::vector<double>& feature_values,
                                    const std::string& category,
                                    const LaneSequence* lane_sequence_ptr);
 
  static void InsertDataForLearning(
      const Feature& feature, const std::vector<double>& feature_values,
      const std::vector<std::string>& string_feature_values,
      const std::string& category, const LaneSequence* lane_sequence_ptr);
 
  static void InsertPredictionResult(
      const Obstacle* obstacle, const PredictionObstacle& prediction_obstacle,
      const ObstacleConf& obstacle_conf, const Scenario& scenario);
 
  static void InsertFrameEnv(const FrameEnv& frame_env);
 
  static void InsertDataForTuning(
      const Feature& feature, const std::vector<double>& feature_values,
      const std::string& category, const LaneSequence& lane_sequence,
      const std::vector<apollo::common::TrajectoryPoint>& adc_trajectory);
 
  static void WriteFeatureProto();
 
  static void WriteDataForLearning();
 
  static void WritePredictionResult();
 
  static void WriteFrameEnv();
 
  static void WriteDataForTuning();
 
  static int Size();
 
  static int SizeOfDataForLearning();
 
  static int SizeOfPredictionResult();
 
  static int SizeOfFrameEnv();
 
  static int SizeOfDataForTuning();
 
 private:
  static Features features_;
  static std::size_t idx_feature_;
  static ListDataForLearning list_data_for_learning_;
  static std::size_t idx_learning_;
  static ListPredictionResult list_prediction_result_;
  static std::size_t idx_prediction_result_;
  static ListFrameEnv list_frame_env_;
  static std::size_t idx_frame_env_;
  static ListDataForTuning list_data_for_tuning_;
  static std::size_t idx_tuning_;
  static std::mutex mutex_feature_;
};
 
}  // namespace prediction
}  // namespace apollo