predictor.h

Go to the documentation of this file.

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

#include "modules/prediction/container/adc_trajectory/adc_trajectory_container.h"
#include "modules/prediction/container/obstacles/obstacle.h"
#include "modules/prediction/container/obstacles/obstacles_container.h"
#include "modules/prediction/proto/prediction_obstacle.pb.h"

namespace apollo {
namespace prediction {

class Predictor {
 public:
  Predictor() = default;

  virtual ~Predictor() = default;

  virtual bool Predict(const ADCTrajectoryContainer* adc_trajectory_container,
                       Obstacle* obstacle,
                       ObstaclesContainer* obstacles_container) = 0;

  int NumOfTrajectories(const Obstacle& obstacle);

  virtual void Clear();

  void TrimTrajectories(const ADCTrajectoryContainer& adc_trajectory_container,
                        Obstacle* obstacle);

  const ObstacleConf::PredictorType& predictor_type();

 protected:
  static Trajectory GenerateTrajectory(
      const std::vector<apollo::common::TrajectoryPoint>& points);

  void SetEqualProbability(const double probability, const int start_index,
                           Obstacle* obstacle_ptr);

  bool TrimTrajectory(const ADCTrajectoryContainer& adc_trajectory_container,
                      Obstacle* obstacle, Trajectory* trajectory);

  bool SupposedToStop(const Feature& feature, const double stop_distance,
                      double* acceleration);

 protected:
  ObstacleConf::PredictorType predictor_type_;
};

}  // namespace prediction
}  // namespace apollo