interaction_predictor.h

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/******************************************************************************
 * Copyright 2019 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 <utility>
#include <vector>

#include "modules/prediction/predictor/sequence/sequence_predictor.h"

namespace apollo {
namespace prediction {

class InteractionPredictor : public SequencePredictor {
 public:
  InteractionPredictor();

  virtual ~InteractionPredictor() = default;

  bool Predict(const ADCTrajectoryContainer* adc_trajectory_container,
               Obstacle* obstacle,
               ObstaclesContainer* obstacles_container) override;

 private:
  void Clear();

  void BuildADCTrajectory(
      const ADCTrajectoryContainer* adc_trajectory_container,
      const double time_resolution);

  bool DrawTrajectory(
      const Obstacle& obstacle, const LaneSequence& lane_sequence,
      const double lon_acceleration, const double total_time,
      const double period,
      std::vector<apollo::common::TrajectoryPoint>* trajectory_points);

  double ComputeTrajectoryCost(
      const Obstacle& obstacle, const LaneSequence& lane_sequence,
      const double acceleration,
      const ADCTrajectoryContainer* adc_trajectory_container);

  double LongitudinalAccelerationCost(const double acceleration);

  double CentripetalAccelerationCost(const LaneSequence& lane_sequence,
                                     const double speed,
                                     const double acceleration);

  double CollisionWithEgoVehicleCost(const LaneSequence& lane_sequence,
                                     const double speed,
                                     const double acceleration);

  bool LowerRightOfWayThanEgo(
      const Obstacle& obstacle, const LaneSequence& lane_sequence,
      const ADCTrajectoryContainer* adc_trajectory_container);

  double ComputeLikelihood(const double cost);

  double ComputePosterior(const double prior, const double likelihood);

 private:
  std::vector<apollo::common::TrajectoryPoint> adc_trajectory_;
};

}  // namespace prediction
}  // namespace apollo