apollo::prediction::Predictor Class Reference

#include <predictor.h>

Inheritance diagram for apollo::prediction::Predictor:

Collaboration diagram for apollo::prediction::Predictor:

Public Member Functions
	Predictor ()=default
	Constructor. More...
virtual	~Predictor ()=default
	Destructor. More...
virtual bool	Predict (const ADCTrajectoryContainer *adc_trajectory_container, Obstacle *obstacle, ObstaclesContainer *obstacles_container)=0
	Make prediction. More...
int	NumOfTrajectories (const Obstacle &obstacle)
	Get trajectory size. More...
virtual void	Clear ()
	Clear all trajectories. More...
void	TrimTrajectories (const ADCTrajectoryContainer &adc_trajectory_container, Obstacle *obstacle)
	Trim prediction trajectories by adc trajectory. More...
const ObstacleConf::PredictorType &	predictor_type ()
	get the predictor type More...

Protected Member Functions
void	SetEqualProbability (const double probability, const int start_index, Obstacle *obstacle_ptr)
	Set equal probability to prediction trajectories. More...
bool	TrimTrajectory (const ADCTrajectoryContainer &adc_trajectory_container, Obstacle *obstacle, Trajectory *trajectory)
	Trim a single prediction trajectory, keep the portion that is not in junction. More...
bool	SupposedToStop (const Feature &feature, const double stop_distance, double *acceleration)
	Determine if an obstacle is supposed to stop within a distance. More...

Static Protected Member Functions
static Trajectory	GenerateTrajectory (const std::vector< apollo::common::TrajectoryPoint > &points)
	Generate trajectory from trajectory points. More...

Protected Attributes
ObstacleConf::PredictorType	predictor_type_

Constructor & Destructor Documentation

Predictor()

apollo::prediction::Predictor::Predictor ( )

default

Constructor.

~Predictor()

virtual apollo::prediction::Predictor::~Predictor ( )

virtualdefault

Destructor.

Member Function Documentation

Clear()

virtual void apollo::prediction::Predictor::Clear ( )

virtual

Clear all trajectories.

Reimplemented in apollo::prediction::SequencePredictor.

GenerateTrajectory()

static Trajectory apollo::prediction::Predictor::GenerateTrajectory ( const std::vector< apollo::common::TrajectoryPoint > &  points )

staticprotected

Generate trajectory from trajectory points.

Parameters

A	vector of trajectory points

Returns

Generated trajectory

NumOfTrajectories()

int apollo::prediction::Predictor::NumOfTrajectories

(

const Obstacle &

obstacle

)

Get trajectory size.

Returns

Size of trajectories

Predict()

virtual bool apollo::prediction::Predictor::Predict ( const ADCTrajectoryContainer *  adc_trajectory_container, Obstacle *  obstacle, ObstaclesContainer *  obstacles_container  )

pure virtual

Make prediction.

Parameters

Obstacle	pointer
Obstacles	container

Returns

If predicted successfully

Implemented in apollo::prediction::SequencePredictor, apollo::prediction::JunctionPredictor, apollo::prediction::MoveSequencePredictor, apollo::prediction::ExtrapolationPredictor, apollo::prediction::FreeMovePredictor, apollo::prediction::LaneSequencePredictor, apollo::prediction::InteractionPredictor, apollo::prediction::SingleLanePredictor, and apollo::prediction::EmptyPredictor.

predictor_type()

const ObstacleConf::PredictorType& apollo::prediction::Predictor::predictor_type

(

)

get the predictor type

Returns

the predictor type

SetEqualProbability()

void apollo::prediction::Predictor::SetEqualProbability ( const double  probability, const int  start_index, Obstacle *  obstacle_ptr  )

protected

Set equal probability to prediction trajectories.

Parameters

probability	total probability
start_index	The start index to set equal probability
obstacle

SupposedToStop()

bool apollo::prediction::Predictor::SupposedToStop ( const Feature &  feature, const double  stop_distance, double *  acceleration  )

protected

Determine if an obstacle is supposed to stop within a distance.

Parameters

The	latest feature of obstacle
The	distance to stop
The	output param of acceleration

Returns

If the obstacle is supposed to stop within a distance

TrimTrajectories()

void apollo::prediction::Predictor::TrimTrajectories	(	const ADCTrajectoryContainer &	adc_trajectory_container,
		Obstacle *	obstacle
	)

Trim prediction trajectories by adc trajectory.

Parameters

ADC	trajectory container
obstacle

TrimTrajectory()

bool apollo::prediction::Predictor::TrimTrajectory ( const ADCTrajectoryContainer &  adc_trajectory_container, Obstacle *  obstacle, Trajectory *  trajectory  )

protected

Trim a single prediction trajectory, keep the portion that is not in junction.

Parameters

adc_segments	trajectory segments of ADC trajectory
obstacle
trajectory	The trimed prediction trajectory

Returns

If the prediction trajectory is trimed

Member Data Documentation

predictor_type_

ObstacleConf::PredictorType apollo::prediction::Predictor::predictor_type_

protected

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

• modules/prediction/predictor/predictor.h