sequence_predictor.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 <string>
#include <utility>
#include <vector>

#include "gtest/gtest.h"

#include "modules/prediction/predictor/predictor.h"

namespace apollo {
namespace prediction {

class SequencePredictor : public Predictor {
 public:
  enum class LaneChangeType {
    LEFT,
    RIGHT,
    STRAIGHT,
    ONTO_LANE,
    INVALID,
  };

 public:
  SequencePredictor() = default;

  virtual ~SequencePredictor() = default;

  bool Predict(const ADCTrajectoryContainer* adc_trajectory_container,
               Obstacle* obstacle,
               ObstaclesContainer* obstacles_container) override;

  FRIEND_TEST(SequencePredictorTest, General);

 protected:
  bool GetLongitudinalPolynomial(const Obstacle& obstacle,
                                 const LaneSequence& lane_sequence,
                                 const std::pair<double, double>& lon_end_state,
                                 std::array<double, 5>* coefficients);

  bool GetLateralPolynomial(const Obstacle& obstacle,
                            const LaneSequence& lane_sequence,
                            const double time_to_end_state,
                            std::array<double, 4>* coefficients);
  void FilterLaneSequences(
      const Feature& feature, const std::string& lane_id,
      const Obstacle* ego_vehicle_ptr,
      const ADCTrajectoryContainer* adc_trajectory_container,
      std::vector<bool>* enable_lane_sequence);

  LaneChangeType GetLaneChangeType(const std::string& lane_id,
                                   const LaneSequence& lane_sequence);

  double GetLaneChangeDistanceWithADC(
      const LaneSequence& lane_sequence, const Obstacle* ego_vehicle_ptr,
      const ADCTrajectoryContainer* adc_trajectory_container);

  void DrawConstantAccelerationTrajectory(
      const Obstacle& obstacle, const LaneSequence& lane_sequence,
      const double total_time, const double period, const double acceleration,
      std::vector<apollo::common::TrajectoryPoint>* points);

  double GetLaneSequenceCurvatureByS(const LaneSequence& lane_sequence,
                                     const double s);

  void Clear();

  std::string ToString(const LaneSequence& sequence);

 private:
  bool LaneSequenceWithMaxProb(const LaneChangeType& type,
                               const double probability, const double max_prob);

  bool LaneChangeWithMaxProb(const LaneChangeType& type,
                             const double probability, const double max_prob);
};

}  // namespace prediction
}  // namespace apollo