predictor_submodule.h

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/******************************************************************************
 * Copyright 2019 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 "cyber/component/component.h"
#include "modules/prediction/common/message_process.h"
#include "modules/prediction/container/adc_trajectory/adc_trajectory_container.h"
#include "modules/prediction/predictor/predictor_manager.h"
#include "modules/prediction/submodules/submodule_output.h"

namespace apollo {
namespace prediction {

class PredictorSubmodule
    : public cyber::Component<apollo::perception::PerceptionObstacles,
                              ADCTrajectoryContainer, SubmoduleOutput> {
 public:
  ~PredictorSubmodule() = default;

  std::string Name() const;

  bool Init() override;

  bool Proc(const std::shared_ptr<apollo::perception::PerceptionObstacles>&,
            const std::shared_ptr<ADCTrajectoryContainer>&,
            const std::shared_ptr<SubmoduleOutput>&) override;

 private:
  std::shared_ptr<cyber::Writer<PredictionObstacles>> predictor_writer_;

  std::unique_ptr<PredictorManager> predictor_manager_;
};

CYBER_REGISTER_COMPONENT(PredictorSubmodule)

}  // namespace prediction
}  // namespace apollo