cost_evaluator.h

Go to the documentation of this file.

/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <string>

#include "modules/prediction/evaluator/evaluator.h"

#include "modules/prediction/container/obstacles/obstacles_container.h"

namespace apollo {
namespace prediction {

class CostEvaluator : public Evaluator {
 public:
  CostEvaluator();

  virtual ~CostEvaluator() = default;

  bool Evaluate(Obstacle* obstacle_ptr,
                ObstaclesContainer* obstacles_container) override;

  std::string GetName() override { return "COST_EVALUATOR"; }

 private:
  double ComputeProbability(const double obstacle_length,
                            const double obstacle_width,
                            const LaneSequence& lane_sequence);

  double FrontLateralDistanceCost(const double obstacle_length,
                                  const double obstacle_width,
                                  const LaneSequence& lane_sequence);
};

}  // namespace prediction
}  // namespace apollo