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

namespace apollo {
namespace prediction {

class JunctionPredictor : public Predictor {
 public:
  JunctionPredictor();

  virtual ~JunctionPredictor() = default;

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

 private:
  void DrawJunctionTrajectoryPoints(
      const Feature& feature, const JunctionExit& junction_exit,
      const double total_time, const double period,
      std::vector<apollo::common::TrajectoryPoint>* trajectory_points);

  std::vector<JunctionExit> MostLikelyJunctions(const Feature& feature);

  double GetBestTime(const std::array<double, 2>& start_x,
                     const std::array<double, 2>& end_x,
                     const std::array<double, 2>& start_y,
                     const std::array<double, 2>& end_y);

  double CostFunction(const std::array<double, 4>& x_coeffs,
                      const std::array<double, 4>& y_coeffs,
                      const double time_to_exit);

  std::vector<double> GenerateCandidateTimes();
};

}  // namespace prediction
}  // namespace apollo