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体验新版 GitCode,发现更多精彩内容 >>
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010cb6da
编写于
11月 16, 2017
作者:
C
Calvin Miao
提交者:
Liangliang Zhang
11月 16, 2017
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差异文件
Prediction: added timestamp track
上级
f9a590bf
变更
4
隐藏空白更改
内联
并排
Showing
4 changed file
with
19 addition
and
9 deletion
+19
-9
modules/data/proto/recorder_info.proto
modules/data/proto/recorder_info.proto
+2
-0
modules/prediction/BUILD
modules/prediction/BUILD
+1
-0
modules/prediction/prediction.cc
modules/prediction/prediction.cc
+6
-8
modules/prediction/proto/prediction_obstacle.proto
modules/prediction/proto/prediction_obstacle.proto
+10
-1
未找到文件。
modules/data/proto/recorder_info.proto
浏览文件 @
010cb6da
syntax
=
"proto2"
;
package
apollo
.
data.data_recorder
;
message
RecorderInfo
{
...
...
modules/prediction/BUILD
浏览文件 @
010cb6da
...
...
@@ -14,6 +14,7 @@ cc_library(
"//modules/common/adapters:adapter_manager"
,
"//modules/common/adapters/proto:adapter_config_proto"
,
"//modules/common/util"
,
"//modules/common/time"
,
"//modules/common/proto:pnc_point_proto"
,
"//modules/localization/proto:localization_proto"
,
"//modules/perception/proto:perception_proto"
,
...
...
modules/prediction/prediction.cc
浏览文件 @
010cb6da
...
...
@@ -19,6 +19,7 @@
#include <cmath>
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/time/time.h"
#include "modules/common/util/file.h"
#include "modules/prediction/common/prediction_gflags.h"
#include "modules/prediction/container/container_manager.h"
...
...
@@ -36,6 +37,7 @@ using ::apollo::common::Status;
using
::
apollo
::
common
::
TrajectoryPoint
;
using
::
apollo
::
common
::
adapter
::
AdapterConfig
;
using
::
apollo
::
common
::
adapter
::
AdapterManager
;
using
::
apollo
::
common
::
time
::
Clock
;
using
::
apollo
::
localization
::
LocalizationEstimate
;
using
::
apollo
::
perception
::
PerceptionObstacle
;
using
::
apollo
::
perception
::
PerceptionObstacles
;
...
...
@@ -110,6 +112,7 @@ void Prediction::OnLocalization(const LocalizationEstimate& localization) {
}
void
Prediction
::
OnPerception
(
const
PerceptionObstacles
&
perception_obstacles
)
{
double
start_timestamp
=
Clock
::
NowInSecond
();
ObstaclesContainer
*
obstacles_container
=
dynamic_cast
<
ObstaclesContainer
*>
(
ContainerManager
::
instance
()
->
GetContainer
(
AdapterConfig
::
PERCEPTION_OBSTACLES
));
...
...
@@ -121,15 +124,10 @@ void Prediction::OnPerception(const PerceptionObstacles& perception_obstacles) {
auto
prediction_obstacles
=
PredictorManager
::
instance
()
->
prediction_obstacles
();
AdapterManager
::
FillPredictionHeader
(
Name
(),
&
prediction_obstacles
);
prediction_obstacles
.
set_start_timestamp
(
start_timestamp
);
prediction_obstacles
.
set_end_timestamp
(
Clock
::
NowInSecond
());
AdapterManager
::
PublishPrediction
(
prediction_obstacles
);
for
(
auto
const
&
prediction_obstacle
:
prediction_obstacles
.
prediction_obstacle
())
{
for
(
auto
const
&
trajectory
:
prediction_obstacle
.
trajectory
())
{
for
(
auto
const
&
trajectory_point
:
trajectory
.
trajectory_point
())
{
CHECK
(
IsValidTrajectoryPoint
(
trajectory_point
));
}
}
}
ADEBUG
<<
"Received a perception message ["
<<
perception_obstacles
.
ShortDebugString
()
<<
"]."
;
}
...
...
modules/prediction/proto/prediction_obstacle.proto
浏览文件 @
010cb6da
...
...
@@ -22,9 +22,18 @@ message PredictionObstacle {
}
message
PredictionObstacles
{
optional
apollo.common.Header
header
=
1
;
// timestamp is included in header
// timestamp is included in header
optional
apollo.common.Header
header
=
1
;
// make prediction for multiple obstacles
repeated
PredictionObstacle
prediction_obstacle
=
2
;
// perception error code
optional
apollo.common.ErrorCode
perception_error_code
=
3
;
// start timestamp
optional
double
start_timestamp
=
4
;
// end timestamp
optional
double
end_timestamp
=
5
;
}
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