#include <single_lane_predictor.h>

Inheritance diagram for apollo::prediction::SingleLanePredictor:

Collaboration diagram for apollo::prediction::SingleLanePredictor:

Public Member Functions
	SingleLanePredictor ()
	Constructor. More...

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

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

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

virtual	~SequencePredictor ()=default
	Destructor. 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
void	GenerateTrajectoryPoints (const Obstacle &obstacle, const LaneSequence &lane_sequence, const double total_time, const double period, std::vector< apollo::common::TrajectoryPoint > *points)
	Draw lane sequence trajectory points. More...

Protected Member Functions inherited from apollo::prediction::SequencePredictor
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
Public Types inherited from apollo::prediction::SequencePredictor
enum	LaneChangeType { LaneChangeType::LEFT, LaneChangeType::RIGHT, LaneChangeType::STRAIGHT, LaneChangeType::ONTO_LANE, LaneChangeType::INVALID }

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_

Constructor & Destructor Documentation

◆ SingleLanePredictor()

apollo::prediction::SingleLanePredictor::SingleLanePredictor ( )

Constructor.

◆ ~SingleLanePredictor()

virtual apollo::prediction::SingleLanePredictor::~SingleLanePredictor ( )

virtualdefault

Destructor.

Member Function Documentation

◆ GenerateTrajectoryPoints()

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

protected

Draw lane sequence trajectory points.

Parameters

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

◆ Predict()

bool apollo::prediction::SingleLanePredictor::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

Reimplemented from apollo::prediction::SequencePredictor.

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

modules/prediction/predictor/single_lane/single_lane_predictor.h

Public Member Functions