learning_model_inference_task.h

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 * Copyright 2020 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
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#pragma once

#include <memory>
#include <utility>
#include <vector>

#include "modules/planning/common/trajectory_evaluator.h"
#include "modules/planning/learning_based/model_inference/trajectory_imitation_libtorch_inference.h"
#include "modules/planning/tasks/task.h"

namespace apollo {
namespace planning {

class LearningModelInferenceTask : public Task {
 public:
  LearningModelInferenceTask(
      const TaskConfig &config,
      const std::shared_ptr<DependencyInjector> &injector);

  apollo::common::Status Execute(
      Frame *frame, ReferenceLineInfo *reference_line_info) override;

 private:
  apollo::common::Status Process(Frame *frame);

  void ConvertADCFutureTrajectory(
      const std::vector<TrajectoryPointFeature> &trajectory,
      std::vector<common::TrajectoryPoint> *adc_future_trajectory);

  std::unique_ptr<TrajectoryImitationLibtorchInference>
      trajectory_imitation_inference_;
};

}  // namespace planning
}  // namespace apollo