trajectory_imitation_libtorch_inference.h

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/******************************************************************************
 * Copyright 2020 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 "torch/extension.h"
#include "torch/script.h"
 
#include "modules/planning/planning_base/learning_based/model_inference/model_inference.h"
 
namespace apollo {
namespace planning {
 
class TrajectoryImitationLibtorchInference : public ModelInference {
 public:
  explicit TrajectoryImitationLibtorchInference(
      const LearningModelInferenceTaskConfig& config);
 
  virtual ~TrajectoryImitationLibtorchInference() = default;
 
  std::string GetName() override { return "TRAJECTORY_IMITATION_INFERENCE"; };
 
  bool LoadModel() override;
 
  bool DoInference(LearningDataFrame* const learning_data_frame) override;
 
 private:
  bool LoadCNNModel();
 
  bool LoadCNNLSTMModel();
 
  bool DoCNNMODELInference(LearningDataFrame* const learning_data_frame);
 
  bool DoCNNLSTMMODELInference(LearningDataFrame* const learning_data_frame);
 
  void output_postprocessing(const at::Tensor& torch_output_tensor,
                             LearningDataFrame* const learning_data_frame);
 
  torch::jit::script::Module model_;
  torch::Device device_;
};
 
}  // namespace planning
}  // namespace apollo