prediction_querier.cc

浏览该文件的文档.

/******************************************************************************
 * 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.
 *****************************************************************************/
 
#include "modules/planning/planners/lattice/behavior/prediction_querier.h"
 
#include "modules/common/math/linear_interpolation.h"
#include "modules/common/math/path_matcher.h"
 
namespace apollo {
namespace planning {
 
PredictionQuerier::PredictionQuerier(
    const std::vector<const Obstacle*>& obstacles,
    const std::shared_ptr<std::vector<common::PathPoint>>& ptr_reference_line)
    : ptr_reference_line_(ptr_reference_line) {
  for (const auto ptr_obstacle : obstacles) {
    if (common::util::InsertIfNotPresent(&id_obstacle_map_, ptr_obstacle->Id(),
                                         ptr_obstacle)) {
      obstacles_.push_back(ptr_obstacle);
    } else {
      AWARN << "Duplicated obstacle found [" << ptr_obstacle->Id() << "]";
    }
  }
}
 
std::vector<const Obstacle*> PredictionQuerier::GetObstacles() const {
  return obstacles_;
}
 
double PredictionQuerier::ProjectVelocityAlongReferenceLine(
    const std::string& obstacle_id, const double s, const double t) const {
  ACHECK(id_obstacle_map_.find(obstacle_id) != id_obstacle_map_.end());
 
  const auto& trajectory = id_obstacle_map_.at(obstacle_id)->Trajectory();
  int num_traj_point = trajectory.trajectory_point_size();
  if (num_traj_point < 2) {
    return 0.0;
  }
 
  if (t < trajectory.trajectory_point(0).relative_time() ||
      t > trajectory.trajectory_point(num_traj_point - 1).relative_time()) {
    return 0.0;
  }
 
  auto matched_it =
      std::lower_bound(trajectory.trajectory_point().begin(),
                       trajectory.trajectory_point().end(), t,
                       [](const common::TrajectoryPoint& p, const double t) {
                         return p.relative_time() < t;
                       });
 
  double v = matched_it->v();
  double theta = matched_it->path_point().theta();
  double v_x = v * std::cos(theta);
  double v_y = v * std::sin(theta);
 
  common::PathPoint obstacle_point_on_ref_line =
      common::math::PathMatcher::MatchToPath(*ptr_reference_line_, s);
  auto ref_theta = obstacle_point_on_ref_line.theta();
 
  return std::cos(ref_theta) * v_x + std::sin(ref_theta) * v_y;
}
 
}  // namespace planning
}  // namespace apollo