sequence_predictor.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 "gtest/gtest.h"
 
#include "modules/prediction/predictor/predictor.h"
 
namespace apollo {
namespace prediction {
 
class SequencePredictor : public Predictor {
 public:
  enum class LaneChangeType {
    LEFT,
    RIGHT,
    STRAIGHT,
    ONTO_LANE,
    INVALID,
  };
 
 public:
  SequencePredictor() = default;
 
  virtual ~SequencePredictor() = default;
 
  bool Predict(const ADCTrajectoryContainer* adc_trajectory_container,
               Obstacle* obstacle,
               ObstaclesContainer* obstacles_container) override;
 
  FRIEND_TEST(SequencePredictorTest, General);
 
 protected:
  bool GetLongitudinalPolynomial(const Obstacle& obstacle,
                                 const LaneSequence& lane_sequence,
                                 const std::pair<double, double>& lon_end_state,
                                 std::array<double, 5>* coefficients);
 
  bool GetLateralPolynomial(const Obstacle& obstacle,
                            const LaneSequence& lane_sequence,
                            const double time_to_end_state,
                            std::array<double, 4>* coefficients);
  void FilterLaneSequences(
      const Feature& feature, const std::string& lane_id,
      const Obstacle* ego_vehicle_ptr,
      const ADCTrajectoryContainer* adc_trajectory_container,
      std::vector<bool>* enable_lane_sequence);
 
  LaneChangeType GetLaneChangeType(const std::string& lane_id,
                                   const LaneSequence& lane_sequence);
 
  double GetLaneChangeDistanceWithADC(
      const LaneSequence& lane_sequence, const Obstacle* ego_vehicle_ptr,
      const ADCTrajectoryContainer* adc_trajectory_container);
 
  void DrawConstantAccelerationTrajectory(
      const Obstacle& obstacle, const LaneSequence& lane_sequence,
      const double total_time, const double period, const double acceleration,
      std::vector<apollo::common::TrajectoryPoint>* points);
 
  double GetLaneSequenceCurvatureByS(const LaneSequence& lane_sequence,
                                     const double s);
 
  void Clear();
 
  std::string ToString(const LaneSequence& sequence);
 
 private:
  bool LaneSequenceWithMaxProb(const LaneChangeType& type,
                               const double probability, const double max_prob);
 
  bool LaneChangeWithMaxProb(const LaneChangeType& type,
                             const double probability, const double max_prob);
};
 
}  // namespace prediction
}  // namespace apollo