obstacles_container.h

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/******************************************************************************
 * Copyright 2017 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 <memory>
#include <string>
#include <vector>

#include "modules/common/util/lru_cache.h"
#include "modules/prediction/common/junction_analyzer.h"
#include "modules/prediction/container/container.h"
#include "modules/prediction/container/obstacles/obstacle.h"
#include "modules/prediction/container/obstacles/obstacle_clusters.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"
#include "modules/prediction/submodules/submodule_output.h"

namespace apollo {
namespace prediction {

class ObstaclesContainer : public Container {
 public:
  ObstaclesContainer();

  explicit ObstaclesContainer(const SubmoduleOutput& submodule_output);

  virtual ~ObstaclesContainer() = default;

  void Insert(const ::google::protobuf::Message& message) override;

  void InsertPerceptionObstacle(
      const perception::PerceptionObstacle& perception_obstacle,
      const double timestamp);

  void InsertFeatureProto(const Feature& feature);

  void BuildLaneGraph();

  void BuildJunctionFeature();

  Obstacle* GetObstacle(const int id);

  void Clear();

  void CleanUp();

  size_t NumOfObstacles() { return ptr_obstacles_.size(); }

  const apollo::perception::PerceptionObstacle& GetPerceptionObstacle(
      const int id);

  const std::vector<int>& curr_frame_movable_obstacle_ids();

  const std::vector<int>& curr_frame_unmovable_obstacle_ids();

  const std::vector<int>& curr_frame_considered_obstacle_ids();

  /*
   * @brief Set non-ignore obstacle IDs in the current frame
   */
  void SetConsideredObstacleIds();

  std::vector<int> curr_frame_obstacle_ids();

  double timestamp() const;

  SubmoduleOutput GetSubmoduleOutput(
      const size_t history_size, const apollo::cyber::Time& frame_start_time);

  const Scenario& curr_scenario() const;

  ObstacleClusters* GetClustersPtr() const;
  JunctionAnalyzer* GetJunctionAnalyzer();

 private:
  Obstacle* GetObstacleWithLRUUpdate(const int obstacle_id);

  bool IsMovable(const perception::PerceptionObstacle& perception_obstacle);

 private:
  double timestamp_ = -1.0;
  common::util::LRUCache<int, std::unique_ptr<Obstacle>> ptr_obstacles_;
  std::vector<int> curr_frame_movable_obstacle_ids_;
  std::vector<int> curr_frame_unmovable_obstacle_ids_;
  std::vector<int> curr_frame_considered_obstacle_ids_;
  Scenario curr_scenario_;
  std::unique_ptr<ObstacleClusters> clusters_;
  JunctionAnalyzer junction_analyzer_;
};

}  // namespace prediction
}  // namespace apollo