predictor_manager.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 <map>
#include <memory>

#include "modules/prediction/container/obstacles/obstacles_container.h"
#include "modules/prediction/predictor/predictor.h"
#include "modules/prediction/proto/prediction_conf.pb.h"

namespace apollo {
namespace prediction {

class PredictorManager {
 public:
  PredictorManager();

  virtual ~PredictorManager() = default;

  void Init(const PredictionConf& config);

  Predictor* GetPredictor(const ObstacleConf::PredictorType& type);

  void Run(const apollo::perception::PerceptionObstacles& perception_obstacles,
           const ADCTrajectoryContainer* adc_trajectory_container,
           ObstaclesContainer* obstacles_container);

  void PredictObstacle(const ADCTrajectoryContainer* adc_trajectory_container,
                       Obstacle* obstacle,
                       ObstaclesContainer* obstacles_container,
                       PredictionObstacle* const prediction_obstacle);

  const PredictionObstacles& prediction_obstacles();

 private:
  void RegisterPredictor(const ObstacleConf::PredictorType& type);

  std::unique_ptr<Predictor> CreatePredictor(
      const ObstacleConf::PredictorType& type);

  void RegisterPredictors();

  void PredictObstacles(
      const apollo::perception::PerceptionObstacles& perception_obstacles,
      const ADCTrajectoryContainer* adc_trajectory_container,
      ObstaclesContainer* obstacles_container);

  void PredictObstaclesInParallel(
      const apollo::perception::PerceptionObstacles& perception_obstacles,
      const ADCTrajectoryContainer* adc_trajectory_container,
      ObstaclesContainer* obstacles_container);

  void InitVehiclePredictors(const ObstacleConf& conf);

  void InitCyclistPredictors(const ObstacleConf& conf);

  void InitDefaultPredictors(const ObstacleConf& conf);

  void RunVehiclePredictor(
      const ADCTrajectoryContainer* adc_trajectory_container,
      Obstacle* obstacle, ObstaclesContainer* obstacles_container);

  void RunPedestrianPredictor(
      const ADCTrajectoryContainer* adc_trajectory_container,
      Obstacle* obstacle, ObstaclesContainer* obstacles_container);

  void RunCyclistPredictor(
      const ADCTrajectoryContainer* adc_trajectory_container,
      Obstacle* obstacle, ObstaclesContainer* obstacles_container);

  void RunDefaultPredictor(
      const ADCTrajectoryContainer* adc_trajectory_container,
      Obstacle* obstacle, ObstaclesContainer* obstacles_container);

  void RunEmptyPredictor(const ADCTrajectoryContainer* adc_trajectory_container,
                         Obstacle* obstacle,
                         ObstaclesContainer* obstacles_container);

 private:
  std::map<ObstacleConf::PredictorType, std::unique_ptr<Predictor>> predictors_;

  ObstacleConf::PredictorType vehicle_on_lane_predictor_ =
      ObstacleConf::LANE_SEQUENCE_PREDICTOR;

  ObstacleConf::PredictorType vehicle_off_lane_predictor_ =
      ObstacleConf::FREE_MOVE_PREDICTOR;

  ObstacleConf::PredictorType vehicle_in_junction_predictor_ =
      ObstacleConf::LANE_SEQUENCE_PREDICTOR;

  ObstacleConf::PredictorType cyclist_on_lane_predictor_ =
      ObstacleConf::LANE_SEQUENCE_PREDICTOR;

  ObstacleConf::PredictorType cyclist_off_lane_predictor_ =
      ObstacleConf::FREE_MOVE_PREDICTOR;

  ObstacleConf::PredictorType pedestrian_predictor_ =
      ObstacleConf::FREE_MOVE_PREDICTOR;

  ObstacleConf::PredictorType default_on_lane_predictor_ =
      ObstacleConf::LANE_SEQUENCE_PREDICTOR;

  ObstacleConf::PredictorType default_off_lane_predictor_ =
      ObstacleConf::FREE_MOVE_PREDICTOR;

  ObstacleConf::PredictorType vehicle_on_lane_caution_predictor_ =
      ObstacleConf::MOVE_SEQUENCE_PREDICTOR;

  ObstacleConf::PredictorType vehicle_in_junction_caution_predictor_ =
      ObstacleConf::INTERACTION_PREDICTOR;

  ObstacleConf::PredictorType vehicle_default_caution_predictor_ =
      ObstacleConf::EXTRAPOLATION_PREDICTOR;

  PredictionObstacles prediction_obstacles_;
};

}  // namespace prediction
}  // namespace apollo