#include <sequence_predictor.h>

Inheritance diagram for apollo::prediction::SequencePredictor:

Collaboration diagram for apollo::prediction::SequencePredictor:

Public Types
enum	LaneChangeType { LaneChangeType::LEFT, LaneChangeType::RIGHT, LaneChangeType::STRAIGHT, LaneChangeType::ONTO_LANE, LaneChangeType::INVALID }

Public Member Functions
	SequencePredictor ()=default
	Constructor. More...

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

bool	Predict (const ADCTrajectoryContainer adc_trajectory_container, Obstacle obstacle, ObstaclesContainer *obstacles_container) override
	Make prediction. More...

	FRIEND_TEST (SequencePredictorTest, General)

Public Member Functions inherited from apollo::prediction::Predictor
	Predictor ()=default
	Constructor. More...

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

int	NumOfTrajectories (const Obstacle &obstacle)
	Get trajectory size. 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
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)
	Filter lane sequences. More...

LaneChangeType	GetLaneChangeType (const std::string &lane_id, const LaneSequence &lane_sequence)
	Get lane change type. More...

double	GetLaneChangeDistanceWithADC (const LaneSequence &lane_sequence, const Obstacle ego_vehicle_ptr, const ADCTrajectoryContainer adc_trajectory_container)
	Get lane change distance with ADC. More...

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)
	Draw constant acceleration trajectory points. More...

double	GetLaneSequenceCurvatureByS (const LaneSequence &lane_sequence, const double s)
	Get lane sequence curvature by s. More...

void	Clear ()
	Clear private members. More...

std::string	ToString (const LaneSequence &sequence)
	Convert a lane sequence to string. More...

Protected Member Functions inherited from apollo::prediction::Predictor
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...

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

Protected Attributes inherited from apollo::prediction::Predictor
ObstacleConf::PredictorType	predictor_type_

Member Enumeration Documentation

◆ LaneChangeType

enum apollo::prediction::SequencePredictor::LaneChangeType

strong

Enumerator
LEFT
RIGHT
STRAIGHT
ONTO_LANE
INVALID

Constructor & Destructor Documentation

◆ SequencePredictor()

apollo::prediction::SequencePredictor::SequencePredictor ( )

default

Constructor.

◆ ~SequencePredictor()

virtual apollo::prediction::SequencePredictor::~SequencePredictor ( )

virtualdefault

Destructor.

Member Function Documentation

◆ Clear()

void apollo::prediction::SequencePredictor::Clear ( )

protectedvirtual

Clear private members.

Reimplemented from apollo::prediction::Predictor.

◆ DrawConstantAccelerationTrajectory()

void apollo::prediction::SequencePredictor::DrawConstantAccelerationTrajectory	(	const Obstacle &	obstacle,
		const LaneSequence &	lane_sequence,
		const double	total_time,
		const double	period,
		const double	acceleration,
		std::vector< apollo::common::TrajectoryPoint > *	points
	)

protected

Draw constant acceleration trajectory points.

Parameters

Obstacle
Lane	sequence
Total	prediction time
Prediction	period
acceleration
A	vector of generated trajectory points

◆ FilterLaneSequences()

void apollo::prediction::SequencePredictor::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
	)

protected

Filter lane sequences.

Parameters

Lane	graph
Current	lane id
Ego	vehicle pointer
ADC	trajectory container
Vector	of boolean indicating if a lane sequence is disqualified

◆ FRIEND_TEST()

apollo::prediction::SequencePredictor::FRIEND_TEST	(	SequencePredictorTest	,
		General
	)

◆ GetLaneChangeDistanceWithADC()

double apollo::prediction::SequencePredictor::GetLaneChangeDistanceWithADC	(	const LaneSequence &	lane_sequence,
		const Obstacle *	ego_vehicle_ptr,
		const ADCTrajectoryContainer *	adc_trajectory_container
	)

protected

Get lane change distance with ADC.

Parameters

Target	lane sequence
Ego	vehicle pointer
ADC	trajectory container

Returns: Lane change distance with ADC

◆ GetLaneChangeType()

LaneChangeType apollo::prediction::SequencePredictor::GetLaneChangeType	(	const std::string &	lane_id,
		const LaneSequence &	lane_sequence
	)

protected

Get lane change type.

Parameters

Current	lane id
Lane	sequence

Returns: Integer indicating lane change type:

◆ GetLaneSequenceCurvatureByS()

double apollo::prediction::SequencePredictor::GetLaneSequenceCurvatureByS	(	const LaneSequence &	lane_sequence,
		const double	s
	)

protected

Get lane sequence curvature by s.

Parameters

lane	sequence
s

Returns: the curvature

◆ GetLateralPolynomial()

bool apollo::prediction::SequencePredictor::GetLateralPolynomial	(	const Obstacle &	obstacle,
		const LaneSequence &	lane_sequence,
		const double	time_to_end_state,
		std::array< double, 4 > *	coefficients
	)

protected

◆ GetLongitudinalPolynomial()

bool apollo::prediction::SequencePredictor::GetLongitudinalPolynomial	(	const Obstacle &	obstacle,
		const LaneSequence &	lane_sequence,
		const std::pair< double, double > &	lon_end_state,
		std::array< double, 5 > *	coefficients
	)

protected

◆ Predict()

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

overridevirtual

Make prediction.

Parameters

ADC	trajectory container
Obstacle	pointer
Obstacles	container

Returns: If predicted successfully

Implements apollo::prediction::Predictor.

Reimplemented in apollo::prediction::SingleLanePredictor.

◆ ToString()

std::string apollo::prediction::SequencePredictor::ToString ( const LaneSequence & sequence )

protected

Convert a lane sequence to string.

Parameters

Lane sequence

Returns: String describing the lane sequence

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

modules/prediction/predictor/sequence/sequence_predictor.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ LaneChangeType

Constructor & Destructor Documentation

◆ SequencePredictor()

◆ ~SequencePredictor()

Member Function Documentation

◆ Clear()

◆ DrawConstantAccelerationTrajectory()

◆ FilterLaneSequences()

◆ FRIEND_TEST()

◆ GetLaneChangeDistanceWithADC()

◆ GetLaneChangeType()

◆ GetLaneSequenceCurvatureByS()

◆ GetLateralPolynomial()

◆ GetLongitudinalPolynomial()

◆ Predict()

◆ ToString()