obstacle.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 <deque>
#include <list>
#include <memory>
#include <string>
#include <unordered_set>
#include <vector>
 
#include "modules/common/filters/digital_filter.h"
#include "modules/common/math/kalman_filter.h"
#include "modules/map/hdmap/hdmap_common.h"
#include "modules/prediction/common/junction_analyzer.h"
#include "modules/prediction/common/prediction_gflags.h"
#include "modules/prediction/container/obstacles/obstacle_clusters.h"
#include "modules/common_msgs/prediction_msgs/feature.pb.h"
#include "modules/prediction/proto/prediction_conf.pb.h"
#include "modules/common_msgs/prediction_msgs/prediction_obstacle.pb.h"
 
namespace apollo {
namespace prediction {
 
class Obstacle {
 public:
  static std::unique_ptr<Obstacle> Create(
      const perception::PerceptionObstacle& perception_obstacle,
      const double timestamp, const int prediction_id,
      ObstacleClusters* clusters_ptr);
 
  static std::unique_ptr<Obstacle> Create(const Feature& feature,
                                          ObstacleClusters* clusters_ptr);
 
  Obstacle() = default;
 
  virtual ~Obstacle() = default;
 
  void SetJunctionAnalyzer(JunctionAnalyzer* junction_analyzer) {
    junction_analyzer_ = junction_analyzer;
  }
 
  bool Insert(const perception::PerceptionObstacle& perception_obstacle,
              const double timestamp, const int prediction_id);
 
  bool InsertFeature(const Feature& feature);
 
  void ClearOldInformation();
 
  void TrimHistory(const size_t remain_size);
 
  perception::PerceptionObstacle::Type type() const;
 
  bool IsPedestrian() const;
 
  int id() const;
 
  double timestamp() const;
 
  bool ReceivedOlderMessage(const double timestamp) const;
 
  const Feature& feature(const size_t i) const;
 
  Feature* mutable_feature(const size_t i);
 
  const Feature& latest_feature() const;
 
  const Feature& earliest_feature() const;
 
  Feature* mutable_latest_feature();
 
  void SetNearbyObstacles();
 
  size_t history_size() const;
 
  bool IsStill();
 
  bool IsSlow();
 
  bool IsOnLane() const;
 
  bool ToIgnore();
 
  bool IsNearJunction();
 
  bool IsInJunction(const std::string& junction_id) const;
 
  bool IsCloseToJunctionExit() const;
 
  bool HasJunctionFeatureWithExits() const;
 
  void BuildJunctionFeature();
 
  void BuildLaneGraph();
 
  void BuildLaneGraphFromLeftToRight();
 
  void SetCaution();
 
  bool IsCaution() const;
 
  void SetInteractiveTag();
  void SetNonInteractiveTag();
 
  bool IsInteractiveObstacle() const;
 
  void SetEvaluatorType(const ObstacleConf::EvaluatorType& evaluator_type);
 
  void SetPredictorType(const ObstacleConf::PredictorType& predictor_type);
 
  const ObstacleConf& obstacle_conf() { return obstacle_conf_; }
 
  PredictionObstacle GeneratePredictionObstacle();
 
 private:
  void SetStatus(const perception::PerceptionObstacle& perception_obstacle,
                 double timestamp, Feature* feature);
 
  bool SetId(const perception::PerceptionObstacle& perception_obstacle,
             Feature* feature, const int prediction_id = -1);
 
  void SetType(const perception::PerceptionObstacle& perception_obstacle,
               Feature* feature);
 
  void SetIsNearJunction(
      const perception::PerceptionObstacle& perception_obstacle,
      Feature* feature);
 
  void SetTimestamp(const perception::PerceptionObstacle& perception_obstacle,
                    const double timestamp, Feature* feature);
 
  void SetPolygonPoints(
      const perception::PerceptionObstacle& perception_obstacle,
      Feature* feature);
 
  void SetPosition(const perception::PerceptionObstacle& perception_obstacle,
                   Feature* feature);
 
  void SetVelocity(const perception::PerceptionObstacle& perception_obstacle,
                   Feature* feature);
 
  void AdjustHeadingByLane(Feature* feature);
 
  void UpdateVelocity(const double theta, double* velocity_x,
                      double* velocity_y, double* velocity_heading,
                      double* speed);
 
  void SetAcceleration(Feature* feature);
 
  void SetTheta(const perception::PerceptionObstacle& perception_obstacle,
                Feature* feature);
 
  void SetLengthWidthHeight(
      const perception::PerceptionObstacle& perception_obstacle,
      Feature* feature);
 
  void UpdateLaneBelief(Feature* feature);
 
  void SetCurrentLanes(Feature* feature);
 
  void SetNearbyLanes(Feature* feature);
 
  void SetSurroundingLaneIds(Feature* feature, const double radius);
 
  void SetLaneSequenceStopSign(LaneSequence* lane_sequence_ptr);
 
  void SetLanePoints(Feature* feature);
  void SetLanePoints(const Feature* feature, const double lane_point_spacing,
                     const uint64_t max_num_lane_point,
                     const bool is_bidirection, LaneGraph* const lane_graph);
 
  void SetLaneSequencePath(LaneGraph* const lane_graph);
 
  void SetMotionStatus();
 
  void SetMotionStatusBySpeed();
 
  void InsertFeatureToHistory(const Feature& feature);
 
  void SetJunctionFeatureWithEnterLane(const std::string& enter_lane_id,
                                       Feature* const feature_ptr);
 
  void SetJunctionFeatureWithoutEnterLane(Feature* const feature_ptr);
 
  void DiscardOutdatedHistory();
 
  void GetNeighborLaneSegments(
      std::shared_ptr<const apollo::hdmap::LaneInfo> center_lane_info,
      bool is_left, int recursion_depth,
      std::list<std::string>* const lane_ids_ordered,
      std::unordered_set<std::string>* const existing_lane_ids);
 
  bool HasJunctionExitLane(
      const LaneSequence& lane_sequence,
      const std::unordered_set<std::string>& exit_lane_id_set);
 
  void SetClusters(ObstacleClusters* clusters_ptr);
 
 private:
  int id_ = FLAGS_ego_vehicle_id;
 
  perception::PerceptionObstacle::Type type_ =
      perception::PerceptionObstacle::UNKNOWN_UNMOVABLE;
 
  std::deque<Feature> feature_history_;
 
  std::vector<std::shared_ptr<const hdmap::LaneInfo>> current_lanes_;
 
  ObstacleConf obstacle_conf_;
 
  ObstacleClusters* clusters_ptr_ = nullptr;
  JunctionAnalyzer* junction_analyzer_ = nullptr;
};
 
}  // namespace prediction
}  // namespace apollo