Added predictor framework

modules/prediction/BUILD

@@ -10,6 +10,7 @@ cc_library(
         "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
         "//modules/prediction/container:container_manager",
+        "//modules/prediction/predictor:predictor_manager",
         "//modules/perception/proto:perception_proto",
         "//modules/prediction/common:prediction_common",
         "//modules/prediction/proto:prediction_proto",

modules/prediction/container/container.h

@@ -53,4 +53,4 @@ class Container {
 } // namespace prediction
 } // namespace apollo
 
-#endif // MODULES_PREDICTION_CONTAINER_CONTAINER_MANAGER_H_
+#endif // MODULES_PREDICTION_CONTAINER_CONTAINER_H_

modules/prediction/container/container_manager.h

@@ -49,7 +49,7 @@ class ContainerManager {
   /**
    * @brief Get mutable 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);
 

modules/prediction/prediction.cc

@@ -20,6 +20,7 @@
 
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/prediction/container/container_manager.h"
+#include "modules/prediction/predictor/predictor_manager.h"
 #include "modules/prediction/common/prediction_gflags.h"
 
 namespace apollo {
@@ -63,6 +64,9 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
     ContainerManager::instance()->mutable_container("Pose")->Insert(localization);
   }
   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

modules/prediction/predictor/BUILD

+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

+/******************************************************************************
+ * 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

+/******************************************************************************
+ * 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

+/******************************************************************************
+ * 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_