junction_mlp_evaluator.h

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/******************************************************************************
 * 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 <vector>

#include "torch/script.h"
#include "torch/torch.h"

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

namespace apollo {
namespace prediction {

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

  virtual ~JunctionMLPEvaluator() = default;

  void Clear();

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

  void ExtractFeatureValues(Obstacle* obstacle_ptr,
                            ObstaclesContainer* obstacles_container,
                            std::vector<double>* feature_values);

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

 private:
  void SetObstacleFeatureValues(Obstacle* obstacle_ptr,
                                std::vector<double>* const feature_values);

  void SetEgoVehicleFeatureValues(Obstacle* obstacle_ptr,
                                  ObstaclesContainer* obstacles_container,
                                  std::vector<double>* const feature_values);

  void SetJunctionFeatureValues(Obstacle* obstacle_ptr,
                                std::vector<double>* const feature_values);

  void LoadModel();

 private:
  // obstacle feature with 4 basic features and 5 frames of history position
  static const size_t OBSTACLE_FEATURE_SIZE = 4 + 2 * 5;
  // ego vehicle feature of position and velocity
  static const size_t EGO_VEHICLE_FEATURE_SIZE = 4;
  // junction feature on 12 fan area 8 dim each
  static const size_t JUNCTION_FEATURE_SIZE = 12 * 8;

  torch::jit::script::Module torch_model_;
  torch::Device device_;
};

}  // namespace prediction
}  // namespace apollo