Prediction obstacle. More...

#include <obstacle.h>

Collaboration diagram for apollo::prediction::Obstacle:

Public Member Functions
	Obstacle ()=default

virtual	~Obstacle ()=default
	Destructor. More...

void	SetJunctionAnalyzer (JunctionAnalyzer *junction_analyzer)

bool	Insert (const perception::PerceptionObstacle &perception_obstacle, const double timestamp, const int prediction_id)
	Insert a perception obstacle with its timestamp. More...

bool	InsertFeature (const Feature &feature)
	Insert a feature proto message. More...

void	ClearOldInformation ()

void	TrimHistory (const size_t remain_size)

perception::PerceptionObstacle::Type	type () const
	Get the type of perception obstacle's type. More...

bool	IsPedestrian () const

int	id () const
	Get the obstacle's ID. More...

double	timestamp () const
	Get the obstacle's timestamp. More...

bool	ReceivedOlderMessage (const double timestamp) const

const Feature &	feature (const size_t i) const
	Get the ith feature from latest to earliest. More...

Feature *	mutable_feature (const size_t i)
	Get a pointer to the ith feature from latest to earliest. More...

const Feature &	latest_feature () const
	Get the latest feature. More...

const Feature &	earliest_feature () const
	Get the earliest feature. More...

Feature *	mutable_latest_feature ()
	Get a pointer to the latest feature. More...

void	SetNearbyObstacles ()
	Set nearby obstacles. More...

size_t	history_size () const
	Get the number of historical features. More...

bool	IsStill ()
	Check if the obstacle is still. More...

bool	IsSlow ()
	Check if the obstacle is slow. More...

bool	IsOnLane () const
	Check if the obstacle is on any lane. More...

bool	ToIgnore ()
	Check if the obstacle can be ignored. More...

bool	IsNearJunction ()
	Check if the obstacle is near a junction. More...

bool	IsInJunction (const std::string &junction_id) const
	Check if the obstacle is a junction. More...

bool	IsCloseToJunctionExit () const
	Check if the obstacle is close to a junction exit. More...

bool	HasJunctionFeatureWithExits () const
	Check if the obstacle has junction feature. More...

void	BuildJunctionFeature ()
	Build junction feature. More...

void	BuildLaneGraph ()
	Build obstacle's lane graph. More...

void	BuildLaneGraphFromLeftToRight ()
	Build obstacle's lane graph with lanes being ordered. This would be useful for lane-scanning algorithms. More...

void	SetCaution ()
	Set the obstacle as caution level. More...

bool	IsCaution () const

void	SetEvaluatorType (const ObstacleConf::EvaluatorType &evaluator_type)

void	SetPredictorType (const ObstacleConf::PredictorType &predictor_type)

const ObstacleConf &	obstacle_conf ()

PredictionObstacle	GeneratePredictionObstacle ()

Static Public Member Functions
static std::unique_ptr< Obstacle >	Create (const perception::PerceptionObstacle &perception_obstacle, const double timestamp, const int prediction_id, ObstacleClusters *clusters_ptr)
	Constructor. More...

static std::unique_ptr< Obstacle >	Create (const Feature &feature, ObstacleClusters *clusters_ptr)

Detailed Description

Prediction obstacle.

Constructor & Destructor Documentation

◆ Obstacle()

apollo::prediction::Obstacle::Obstacle ( )

default

◆ ~Obstacle()

virtual apollo::prediction::Obstacle::~Obstacle ( )

virtualdefault

Destructor.

Member Function Documentation

◆ BuildJunctionFeature()

void apollo::prediction::Obstacle::BuildJunctionFeature ( )

Build junction feature.

◆ BuildLaneGraph()

void apollo::prediction::Obstacle::BuildLaneGraph ( )

Build obstacle's lane graph.

◆ BuildLaneGraphFromLeftToRight()

void apollo::prediction::Obstacle::BuildLaneGraphFromLeftToRight ( )

Build obstacle's lane graph with lanes being ordered. This would be useful for lane-scanning algorithms.

◆ ClearOldInformation()

void apollo::prediction::Obstacle::ClearOldInformation ( )

◆ Create() [1/2]

static std::unique_ptr<Obstacle> apollo::prediction::Obstacle::Create	(	const perception::PerceptionObstacle &	perception_obstacle,
		const double	timestamp,
		const int	prediction_id,
		ObstacleClusters *	clusters_ptr
	)

static

Constructor.

◆ Create() [2/2]

static std::unique_ptr<Obstacle> apollo::prediction::Obstacle::Create	(	const Feature &	feature,
		ObstacleClusters *	clusters_ptr
	)

static

◆ earliest_feature()

const Feature& apollo::prediction::Obstacle::earliest_feature ( ) const

Get the earliest feature.

Returns: The earliest feature.

◆ feature()

const Feature& apollo::prediction::Obstacle::feature ( const size_t i ) const

Get the ith feature from latest to earliest.

Parameters

i	The index of the feature.

Returns: The ith feature.

◆ GeneratePredictionObstacle()

PredictionObstacle apollo::prediction::Obstacle::GeneratePredictionObstacle ( )

◆ HasJunctionFeatureWithExits()

bool apollo::prediction::Obstacle::HasJunctionFeatureWithExits ( ) const

Check if the obstacle has junction feature.

Returns: If the obstacle has junction feature.

◆ history_size()

size_t apollo::prediction::Obstacle::history_size ( ) const

Get the number of historical features.

Returns: The number of historical features.

◆ id()

int apollo::prediction::Obstacle::id ( ) const

Get the obstacle's ID.

Returns: The obstacle's ID.

◆ Insert()

bool apollo::prediction::Obstacle::Insert	(	const perception::PerceptionObstacle &	perception_obstacle,
		const double	timestamp,
		const int	prediction_id
	)

Insert a perception obstacle with its timestamp.

Parameters

perception_obstacle	The obstacle from perception.
timestamp	The timestamp when the perception obstacle was detected.

◆ InsertFeature()

bool apollo::prediction::Obstacle::InsertFeature ( const Feature & feature )

Insert a feature proto message.

Parameters

feature proto message.

◆ IsCaution()

bool apollo::prediction::Obstacle::IsCaution ( ) const

◆ IsCloseToJunctionExit()

bool apollo::prediction::Obstacle::IsCloseToJunctionExit ( ) const

Check if the obstacle is close to a junction exit.

Returns: If the obstacle is closed to a junction exit.

◆ IsInJunction()

bool apollo::prediction::Obstacle::IsInJunction ( const std::string & junction_id ) const

Check if the obstacle is a junction.

Parameters

junction ID

Returns: If the obstacle is in a junction.

◆ IsNearJunction()

bool apollo::prediction::Obstacle::IsNearJunction ( )

Check if the obstacle is near a junction.

Returns: If the obstacle is near a junction.

◆ IsOnLane()

bool apollo::prediction::Obstacle::IsOnLane ( ) const

Check if the obstacle is on any lane.

Returns: If the obstacle is on any lane.

◆ IsPedestrian()

bool apollo::prediction::Obstacle::IsPedestrian ( ) const

◆ IsSlow()

bool apollo::prediction::Obstacle::IsSlow ( )

Check if the obstacle is slow.

Returns: If the obstacle is slow.

◆ IsStill()

bool apollo::prediction::Obstacle::IsStill ( )

Check if the obstacle is still.

Returns: If the obstacle is still.

◆ latest_feature()

const Feature& apollo::prediction::Obstacle::latest_feature ( ) const

Get the latest feature.

Returns: The latest feature.

◆ mutable_feature()

Feature* apollo::prediction::Obstacle::mutable_feature ( const size_t i )

Get a pointer to the ith feature from latest to earliest.

Parameters

i	The index of the feature.

Returns: A pointer to the ith feature.

◆ mutable_latest_feature()

Feature* apollo::prediction::Obstacle::mutable_latest_feature ( )

Get a pointer to the latest feature.

Returns: A pointer to the latest feature.

◆ obstacle_conf()

const ObstacleConf& apollo::prediction::Obstacle::obstacle_conf ( )

inline

◆ ReceivedOlderMessage()

bool apollo::prediction::Obstacle::ReceivedOlderMessage ( const double timestamp ) const

◆ SetCaution()

void apollo::prediction::Obstacle::SetCaution ( )

Set the obstacle as caution level.

◆ SetEvaluatorType()

void apollo::prediction::Obstacle::SetEvaluatorType ( const ObstacleConf::EvaluatorType & evaluator_type )

◆ SetJunctionAnalyzer()

void apollo::prediction::Obstacle::SetJunctionAnalyzer ( JunctionAnalyzer * junction_analyzer )

inline

◆ SetNearbyObstacles()

void apollo::prediction::Obstacle::SetNearbyObstacles ( )

Set nearby obstacles.

◆ SetPredictorType()

void apollo::prediction::Obstacle::SetPredictorType ( const ObstacleConf::PredictorType & predictor_type )

◆ timestamp()

double apollo::prediction::Obstacle::timestamp ( ) const

Get the obstacle's timestamp.

Returns: The obstacle's timestamp.

◆ ToIgnore()

bool apollo::prediction::Obstacle::ToIgnore ( )

Check if the obstacle can be ignored.

Returns: If the obstacle can be ignored.

◆ TrimHistory()

void apollo::prediction::Obstacle::TrimHistory ( const size_t remain_size )

◆ type()

perception::PerceptionObstacle::Type apollo::prediction::Obstacle::type ( ) const

Get the type of perception obstacle's type.

Returns: The type pf perception obstacle.

The documentation for this class was generated from the following file:

modules/prediction/container/obstacles/obstacle.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Obstacle()

◆ ~Obstacle()

Member Function Documentation

◆ BuildJunctionFeature()

◆ BuildLaneGraph()

◆ BuildLaneGraphFromLeftToRight()

◆ ClearOldInformation()

◆ Create() [1/2]

◆ Create() [2/2]

◆ earliest_feature()

◆ feature()

◆ GeneratePredictionObstacle()

◆ HasJunctionFeatureWithExits()

◆ history_size()

◆ id()

◆ Insert()

◆ InsertFeature()

◆ IsCaution()

◆ IsCloseToJunctionExit()

◆ IsInJunction()

◆ IsNearJunction()

◆ IsOnLane()

◆ IsPedestrian()

◆ IsSlow()

◆ IsStill()

◆ latest_feature()

◆ mutable_feature()

◆ mutable_latest_feature()

◆ obstacle_conf()

◆ ReceivedOlderMessage()

◆ SetCaution()

◆ SetEvaluatorType()

◆ SetJunctionAnalyzer()

◆ SetNearbyObstacles()

◆ SetPredictorType()

◆ timestamp()

◆ ToIgnore()

◆ TrimHistory()

◆ type()