apollo::prediction::ObstacleClusters Class Reference

#include <obstacle_clusters.h>

Collaboration diagram for apollo::prediction::ObstacleClusters:

Public Member Functions
	ObstacleClusters ()=default
	Constructor. More...
void	Init ()
	Remove all lane graphs. More...
LaneGraph	GetLaneGraph (const double start_s, const double length, const bool consider_lane_split, std::shared_ptr< const apollo::hdmap::LaneInfo > lane_info_ptr)
	Obtain a lane graph given a lane info and s. More...
LaneGraph	GetLaneGraphWithoutMemorizing (const double start_s, const double length, const bool is_on_lane, std::shared_ptr< const apollo::hdmap::LaneInfo > lane_info_ptr)
	Obtain a lane graph given a lane info and s, but don't memorize it. More...
bool	ForwardNearbyObstacle (const LaneSequence &lane_sequence, const double s, LaneObstacle *const lane_obstacle)
	Get the nearest obstacle on lane sequence at s. More...
void	AddObstacle (const int obstacle_id, const std::string &lane_id, const double lane_s, const double lane_l)
	Add an obstacle into clusters. More...
void	SortObstacles ()
	Sort lane obstacles by lane s. More...
bool	ForwardNearbyObstacle (const LaneSequence &lane_sequence, const int obstacle_id, const double obstacle_s, const double obstacle_l, NearbyObstacle *const nearby_obstacle_ptr)
	Get the forward nearest obstacle on lane sequence at s. More...
bool	BackwardNearbyObstacle (const LaneSequence &lane_sequence, const int obstacle_id, const double obstacle_s, const double obstacle_l, NearbyObstacle *const nearby_obstacle_ptr)
	Get the backward nearest obstacle on lane sequence at s. More...
StopSign	QueryStopSignByLaneId (const std::string &lane_id)
	Query stop sign by lane ID. More...
std::unordered_map< std::string, std::vector< LaneObstacle > > &	GetLaneObstacles ()

Constructor & Destructor Documentation

ObstacleClusters()

apollo::prediction::ObstacleClusters::ObstacleClusters ( )

default

Constructor.

Member Function Documentation

AddObstacle()

void apollo::prediction::ObstacleClusters::AddObstacle	(	const int	obstacle_id,
		const std::string &	lane_id,
		const double	lane_s,
		const double	lane_l
	)

Add an obstacle into clusters.

Parameters

obstacle	id
lane	id
lane	s
lane	l

BackwardNearbyObstacle()

bool apollo::prediction::ObstacleClusters::BackwardNearbyObstacle	(	const LaneSequence &	lane_sequence,
		const int	obstacle_id,
		const double	obstacle_s,
		const double	obstacle_l,
		NearbyObstacle *const	nearby_obstacle_ptr
	)

Get the backward nearest obstacle on lane sequence at s.

Parameters

Lane	sequence
s	offset in the first lane of the lane sequence
the	forward obstacle on lane

Returns

If the backward obstacle is found

ForwardNearbyObstacle() [1/2]

bool apollo::prediction::ObstacleClusters::ForwardNearbyObstacle	(	const LaneSequence &	lane_sequence,
		const double	s,
		LaneObstacle *const	lane_obstacle
	)

Get the nearest obstacle on lane sequence at s.

Parameters

Lane	sequence
s	offset in the first lane of the lane sequence
the	forward obstacle on lane

Returns

If the forward obstacle is found

ForwardNearbyObstacle() [2/2]

bool apollo::prediction::ObstacleClusters::ForwardNearbyObstacle	(	const LaneSequence &	lane_sequence,
		const int	obstacle_id,
		const double	obstacle_s,
		const double	obstacle_l,
		NearbyObstacle *const	nearby_obstacle_ptr
	)

Get the forward nearest obstacle on lane sequence at s.

Parameters

Lane	sequence
s	offset in the first lane of the lane sequence
the	forward obstacle on lane

Returns

If the forward obstacle is found

GetLaneGraph()

LaneGraph apollo::prediction::ObstacleClusters::GetLaneGraph	(	const double	start_s,
		const double	length,
		const bool	consider_lane_split,
		std::shared_ptr< const apollo::hdmap::LaneInfo >	lane_info_ptr
	)

Obtain a lane graph given a lane info and s.

Parameters

lane	start s
lane	total length
if	consider lane split ahead
lane	info

Returns

a corresponding lane graph

GetLaneGraphWithoutMemorizing()

LaneGraph apollo::prediction::ObstacleClusters::GetLaneGraphWithoutMemorizing	(	const double	start_s,
		const double	length,
		const bool	is_on_lane,
		std::shared_ptr< const apollo::hdmap::LaneInfo >	lane_info_ptr
	)

Obtain a lane graph given a lane info and s, but don't memorize it.

Parameters

lane	start s
lane	total length
if	the obstacle is on lane
lane	info

Returns

a corresponding lane graph

GetLaneObstacles()

std::unordered_map<std::string, std::vector<LaneObstacle> >& apollo::prediction::ObstacleClusters::GetLaneObstacles ( )

inline

Init()

void apollo::prediction::ObstacleClusters::Init

(

)

Remove all lane graphs.

QueryStopSignByLaneId()

StopSign apollo::prediction::ObstacleClusters::QueryStopSignByLaneId

(

const std::string &

lane_id

)

Query stop sign by lane ID.

Parameters

lane

ID

Returns

the stop sign

SortObstacles()

void apollo::prediction::ObstacleClusters::SortObstacles

(

)

Sort lane obstacles by lane s.

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

• modules/prediction/container/obstacles/obstacle_clusters.h