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02e9dbb8
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体验新版 GitCode,发现更多精彩内容 >>
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02e9dbb8
编写于
7月 13, 2017
作者:
C
Calvin Miao
浏览文件
操作
浏览文件
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电子邮件补丁
差异文件
Added predictor framework
上级
6216d2a4
变更
8
隐藏空白更改
内联
并排
Showing
8 changed file
with
169 addition
and
2 deletion
+169
-2
modules/prediction/BUILD
modules/prediction/BUILD
+1
-0
modules/prediction/container/container.h
modules/prediction/container/container.h
+1
-1
modules/prediction/container/container_manager.h
modules/prediction/container/container_manager.h
+1
-1
modules/prediction/prediction.cc
modules/prediction/prediction.cc
+4
-0
modules/prediction/predictor/BUILD
modules/prediction/predictor/BUILD
+21
-0
modules/prediction/predictor/predictor.h
modules/prediction/predictor/predictor.h
+50
-0
modules/prediction/predictor/predictor_manager.cc
modules/prediction/predictor/predictor_manager.cc
+32
-0
modules/prediction/predictor/predictor_manager.h
modules/prediction/predictor/predictor_manager.h
+59
-0
未找到文件。
modules/prediction/BUILD
浏览文件 @
02e9dbb8
...
@@ -10,6 +10,7 @@ cc_library(
...
@@ -10,6 +10,7 @@ cc_library(
"//modules/common:log"
,
"//modules/common:log"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/common/adapters:adapter_manager"
,
"//modules/prediction/container:container_manager"
,
"//modules/prediction/container:container_manager"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/prediction/common:prediction_common"
,
"//modules/prediction/common:prediction_common"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/prediction/proto:prediction_proto"
,
...
...
modules/prediction/container/container.h
浏览文件 @
02e9dbb8
...
@@ -53,4 +53,4 @@ class Container {
...
@@ -53,4 +53,4 @@ class Container {
}
// namespace prediction
}
// namespace prediction
}
// namespace apollo
}
// namespace apollo
#endif // MODULES_PREDICTION_CONTAINER_CONTAINER_
MANAGER_
H_
#endif // MODULES_PREDICTION_CONTAINER_CONTAINER_H_
modules/prediction/container/container_manager.h
浏览文件 @
02e9dbb8
...
@@ -49,7 +49,7 @@ class ContainerManager {
...
@@ -49,7 +49,7 @@ class ContainerManager {
/**
/**
* @brief Get mutable container
* @brief Get mutable container
* @param Name of the container
* @param Name of the container
* @return Pointer
of
the container given the name
* @return Pointer
to
the container given the name
*/
*/
Container
*
mutable_container
(
const
std
::
string
&
name
);
Container
*
mutable_container
(
const
std
::
string
&
name
);
...
...
modules/prediction/prediction.cc
浏览文件 @
02e9dbb8
...
@@ -20,6 +20,7 @@
...
@@ -20,6 +20,7 @@
#include "modules/common/adapters/adapter_manager.h"
#include "modules/common/adapters/adapter_manager.h"
#include "modules/prediction/container/container_manager.h"
#include "modules/prediction/container/container_manager.h"
#include "modules/prediction/predictor/predictor_manager.h"
#include "modules/prediction/common/prediction_gflags.h"
#include "modules/prediction/common/prediction_gflags.h"
namespace
apollo
{
namespace
apollo
{
...
@@ -63,6 +64,9 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
...
@@ -63,6 +64,9 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
ContainerManager
::
instance
()
->
mutable_container
(
"Pose"
)
->
Insert
(
localization
);
ContainerManager
::
instance
()
->
mutable_container
(
"Pose"
)
->
Insert
(
localization
);
}
}
ContainerManager
::
instance
()
->
mutable_container
(
"Obstacles"
)
->
Insert
(
perception_obstacles
);
ContainerManager
::
instance
()
->
mutable_container
(
"Obstacles"
)
->
Insert
(
perception_obstacles
);
PredictorManager
::
instance
()
->
Run
(
perception_obstacles
);
// GeneratorManager::instance()->Run(perception_obstacles);
// AdapterManager::PublishPrediction(GeneratorManager::instance()->GetPredictions());
}
}
}
// namespace prediction
}
// namespace prediction
...
...
modules/prediction/predictor/BUILD
0 → 100644
浏览文件 @
02e9dbb8
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
name
=
"predictor_manager"
,
srcs
=
[
"predictor_manager.cc"
],
hdrs
=
[
"predictor_manager.h"
],
deps
=
[
"//modules/prediction/predictor:predictor"
,
"//modules/perception/proto:perception_proto"
,
"//modules/common:macro"
,
"@glog//:glog"
]
)
cc_library
(
name
=
"predictor"
,
hdrs
=
[
"predictor.h"
],
deps
=
[
]
)
\ No newline at end of file
modules/prediction/predictor/predictor.h
0 → 100644
浏览文件 @
02e9dbb8
/******************************************************************************
* 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.
*****************************************************************************/
/**
* @file
* @brief Define the data container base class
*/
#ifndef MODULES_PREDICTION_PREDICTOR_PREDICTOR_H_
#define MODULES_PREDICTION_PREDICTOR_PREDICTOR_H_
#include <google/protobuf/message.h>
/**
* @namespace apollo::prediction
* @brief apollo::prediction
*/
namespace
apollo
{
namespace
prediction
{
class
Predictor
{
public:
/**
* @brief Constructor
*/
Predictor
()
=
default
;
/**
* @brief Destructor
*/
virtual
~
Predictor
()
=
default
;
};
}
// namespace prediction
}
// namespace apollo
#endif // MODULES_PREDICTION_PREDICTOR_PREDICTOR_H_
modules/prediction/predictor/predictor_manager.cc
0 → 100644
浏览文件 @
02e9dbb8
/******************************************************************************
* 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.
*****************************************************************************/
#include "modules/prediction/predictor/predictor_manager.h"
namespace
apollo
{
namespace
prediction
{
PredictorManager
::
PredictorManager
()
{}
const
Predictor
*
PredictorManager
::
GetPredictor
()
{
return
nullptr
;
}
void
PredictorManager
::
Run
(
const
::
apollo
::
perception
::
PerceptionObstacles
&
perception_obstacles
)
{}
}
}
modules/prediction/predictor/predictor_manager.h
0 → 100644
浏览文件 @
02e9dbb8
/******************************************************************************
* 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.
*****************************************************************************/
/**
* @file
* @brief Use predictor manager to manage all predictors
*/
#ifndef MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_
#define MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_
#include <unordered_map>
#include "modules/prediction/predictor/predictor.h"
#include "modules/perception/proto/perception_obstacle.pb.h"
#include "modules/common/macro.h"
/**
* @namespace apollo::prediction
* @brief apollo::prediction
*/
namespace
apollo
{
namespace
prediction
{
class
PredictorManager
{
public:
/**
* @brief Destructor
*/
virtual
~
PredictorManager
()
=
default
;
/**
* @brief Get predictor
* @return Pointer to the predictor
*/
const
Predictor
*
GetPredictor
();
void
Run
(
const
::
apollo
::
perception
::
PerceptionObstacles
&
perception_obstacles
);
DECLARE_SINGLETON
(
PredictorManager
)
};
}
// namespace prediction
}
// namespace apollo
#endif // MODULES_PREDICTION_PREDICTOR_PREDICTOR_MANAGER_H_
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