evaluator.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 <string>
#include <utility>
#include <vector>
 
#include "modules/prediction/container/obstacles/obstacle.h"
 
#include "modules/prediction/container/obstacles/obstacles_container.h"
#include "modules/prediction/container/adc_trajectory/adc_trajectory_container.h"
 
namespace apollo {
namespace prediction {
 
class Evaluator {
 public:
  Evaluator() = default;
 
  virtual ~Evaluator() = default;
 
  // TODO(all): Need to merge the following two functions into a single one.
  // Can try using proto to pass static/dynamic env info.
 
  virtual bool Evaluate(Obstacle* obstacle,
                        ObstaclesContainer* obstacles_container) = 0;
 
  virtual bool Evaluate(Obstacle* obstacle,
                        ObstaclesContainer* obstacles_container,
                        std::vector<Obstacle*> dynamic_env) {
    return Evaluate(obstacle, obstacles_container);
  }
 
  virtual bool Evaluate(const ADCTrajectoryContainer* adc_trajectory_container,
                        Obstacle* obstacle,
                        ObstaclesContainer* obstacles_container) {
    return Evaluate(obstacle, obstacles_container);
  }
  virtual std::string GetName() = 0;
 
 protected:
  // Helper function to convert world coordinates to relative coordinates
  // around the obstacle of interest.
  std::pair<double, double> WorldCoordToObjCoord(
      std::pair<double, double> input_world_coord,
      std::pair<double, double> obj_world_coord, double obj_world_angle) {
    double x_diff = input_world_coord.first - obj_world_coord.first;
    double y_diff = input_world_coord.second - obj_world_coord.second;
    double rho = std::sqrt(x_diff * x_diff + y_diff * y_diff);
    double theta = std::atan2(y_diff, x_diff) - obj_world_angle;
 
    return std::make_pair(std::cos(theta) * rho, std::sin(theta) * rho);
  }
 
  std::pair<double, double> WorldCoordToObjCoordNorth(
      std::pair<double, double> input_world_coord,
      std::pair<double, double> obj_world_coord, double obj_world_angle) {
    double x_diff = input_world_coord.first - obj_world_coord.first;
    double y_diff = input_world_coord.second - obj_world_coord.second;
    double theta = M_PI / 2 - obj_world_angle;
    double x = std::cos(theta) * x_diff - std::sin(theta) * y_diff;
    double y = std::sin(theta) * x_diff + std::cos(theta) * y_diff;
    return std::make_pair(x, y);
  }
 
  double WorldAngleToObjAngle(double input_world_angle,
                              double obj_world_angle) {
    return common::math::NormalizeAngle(input_world_angle - obj_world_angle);
  }
 
  Eigen::MatrixXf VectorToMatrixXf(const std::vector<double>& nums,
                                   const int start_index, const int end_index) {
    CHECK_LT(start_index, end_index);
    CHECK_GE(start_index, 0);
    CHECK_LE(end_index, static_cast<int>(nums.size()));
    Eigen::MatrixXf output_matrix;
    output_matrix.resize(1, end_index - start_index);
    for (int i = start_index; i < end_index; ++i) {
      output_matrix(0, i - start_index) = static_cast<float>(nums[i]);
    }
    return output_matrix;
  }
 
  Eigen::MatrixXf VectorToMatrixXf(const std::vector<double>& nums,
                                   const int start_index, const int end_index,
                                   const int output_num_row,
                                   const int output_num_col) {
    CHECK_LT(start_index, end_index);
    CHECK_GE(start_index, 0);
    CHECK_LE(end_index, static_cast<int>(nums.size()));
    CHECK_EQ(end_index - start_index, output_num_row * output_num_col);
    Eigen::MatrixXf output_matrix;
    output_matrix.resize(output_num_row, output_num_col);
    int input_index = start_index;
    for (int i = 0; i < output_num_row; ++i) {
      for (int j = 0; j < output_num_col; ++j) {
        output_matrix(i, j) = static_cast<float>(nums[input_index]);
        ++input_index;
      }
    }
    CHECK_EQ(input_index, end_index);
    return output_matrix;
  }
 
 protected:
  ObstacleConf::EvaluatorType evaluator_type_;
};
 
}  // namespace prediction
}  // namespace apollo