prediction: added ScenarioFeatures class

modules/prediction/common/BUILD

@@ -153,4 +153,13 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "scenario_features",
+    srcs = ["scenario_features.cc"],
+    hdrs = ["scenario_features.h"],
+    deps = [
+        "//framework:cybertron",
+    ],
+)
+
 cpplint()

modules/prediction/common/scenario_features.cc

+/******************************************************************************
+ * Copyright 2018 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/common/scenario_features.h"
+
+#include "cybertron/common/log.h"
+
+namespace apollo {
+namespace prediction {
+
+void ScenarioFeatures::set_ego_velocity(const double ego_velocity) {
+  ego_velocity_ = ego_velocity;
+}
+
+double ScenarioFeatures::get_ego_velocity() const {
+  return ego_velocity_;
+}
+
+void ScenarioFeatures::set_ego_acceleration(const double ego_acceleration) {
+  ego_acceleration_ = ego_acceleration;
+}
+
+double ScenarioFeatures::get_ego_acceleration() const {
+  return ego_acceleration_;
+}
+
+bool ScenarioFeatures::has_ego_lane() const {
+  return has_ego_lane_;
+}
+
+void ScenarioFeatures::reset_ego_lane() {
+  has_ego_lane_ = false;
+}
+
+void ScenarioFeatures::SetEgoLane(const std::string& lane_id,
+    const double lane_s) {
+  has_ego_lane_ = true;
+  ego_lane_id_ = lane_id;
+  ego_lane_s_ = lane_s;
+}
+
+std::pair<std::string, double> ScenarioFeatures::GetEgoLane() const {
+  CHECK(has_ego_lane_);
+  return {ego_lane_id_, ego_lane_s_};
+}
+
+bool ScenarioFeatures::has_left_neighbor_lane() const {
+  return has_left_neighbor_lane_;
+}
+
+void ScenarioFeatures::reset_left_neighbor_lane() {
+  has_left_neighbor_lane_ = false;
+}
+
+void ScenarioFeatures::SetLeftNeighborLane(const std::string& lane_id,
+    const double lane_s) {
+  has_left_neighbor_lane_ = true;
+  left_neighbor_lane_id_ = lane_id;
+  left_neighbor_lane_s_ = lane_s;
+}
+
+std::pair<std::string, double> ScenarioFeatures::GetLeftNeighborLane() const {
+  CHECK(has_left_neighbor_lane_);
+  return {left_neighbor_lane_id_, left_neighbor_lane_s_};
+}
+
+bool ScenarioFeatures::has_right_neighbor_lane() const {
+  return has_right_neighbor_lane_;
+}
+
+void ScenarioFeatures::reset_right_neighbor_lane() {
+  has_right_neighbor_lane_ = false;
+}
+
+void ScenarioFeatures::SetRightNeighborLane(const std::string& lane_id,
+    const double lane_s) {
+  has_right_neighbor_lane_ = true;
+  right_neighbor_lane_id_ = lane_id;
+  right_neighbor_lane_s_ = lane_s;
+}
+
+std::pair<std::string, double> ScenarioFeatures::GetRightNeighborLane() const {
+  CHECK(has_right_neighbor_lane_);
+  return {right_neighbor_lane_id_, right_neighbor_lane_s_};
+}
+
+bool ScenarioFeatures::has_front_junction() const {
+  return has_front_junction_;
+}
+
+void ScenarioFeatures::reset_front_junction() {
+  has_front_junction_ = false;
+}
+
+void ScenarioFeatures::SetFrontJunction(const std::string& junction_id,
+    const double dist) {
+  has_front_junction_ = true;
+  front_junction_id_ = junction_id;
+  dist_to_front_junction_ = dist;
+}
+
+std::pair<std::string, double> ScenarioFeatures::GetFrontJunction() const {
+  CHECK(has_front_junction_);
+  return {front_junction_id_, dist_to_front_junction_};
+}
+
+void ScenarioFeatures::AddObstacleId(const int obstacle_id) {
+  obstacle_ids_.push_back(obstacle_id);
+}
+
+const std::vector<int>& ScenarioFeatures::get_obstacle_ids() const {
+  return obstacle_ids_;
+}
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/common/scenario_features.h

+/******************************************************************************
+ * Copyright 2018 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.
+ *****************************************************************************/
+
+#ifndef MODULES_PREDICTION_COMMON_SCENARIO_FEATURES_H_
+#define MODULES_PREDICTION_COMMON_SCENARIO_FEATURES_H_
+
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace apollo {
+namespace prediction {
+
+class ScenarioFeatures {
+ public:
+  ScenarioFeatures() = default;
+
+  virtual ~ScenarioFeatures() = default;
+
+  void set_ego_velocity(const double ego_velocity);
+
+  double get_ego_velocity() const;
+
+  void set_ego_acceleration(const double ego_acceleration);
+
+  double get_ego_acceleration() const;
+
+  bool has_ego_lane() const;
+
+  void reset_ego_lane();
+
+  void SetEgoLane(const std::string& lane_id, const double lane_s);
+
+  std::pair<std::string, double> GetEgoLane() const;
+
+  bool has_left_neighbor_lane() const;
+
+  void reset_left_neighbor_lane();
+
+  void SetLeftNeighborLane(const std::string& lane_id, const double lane_s);
+
+  std::pair<std::string, double> GetLeftNeighborLane() const;
+
+  bool has_right_neighbor_lane() const;
+
+  void reset_right_neighbor_lane();
+
+  void SetRightNeighborLane(const std::string& lane_id, const double lane_s);
+
+  std::pair<std::string, double> GetRightNeighborLane() const;
+
+  bool has_front_junction() const;
+
+  void reset_front_junction();
+
+  void SetFrontJunction(const std::string& junction_id, const double dist);
+
+  std::pair<std::string, double> GetFrontJunction() const;
+
+  void AddObstacleId(const int obstacle_id);
+
+  const std::vector<int>& get_obstacle_ids() const;
+
+ private:
+  double ego_velocity_ = 0.0;
+
+  double ego_acceleration_ = 0.0;
+
+  double ego_heading_ = 0.0;
+
+  bool has_ego_lane_ = false;
+
+  std::string ego_lane_id_;
+
+  double ego_lane_s_ = 0.0;
+
+  bool has_left_neighbor_lane_ = false;
+
+  std::string left_neighbor_lane_id_;
+
+  double left_neighbor_lane_s_ = 0.0;
+
+  bool has_right_neighbor_lane_ = false;
+
+  std::string right_neighbor_lane_id_;
+
+  double right_neighbor_lane_s_ = 0.0;
+
+  bool has_front_junction_ = false;
+
+  std::string front_junction_id_;
+
+  double dist_to_front_junction_ = 0.0;
+
+  std::vector<int> obstacle_ids_;
+};
+
+}  // namespace prediction
+}  // namespace apollo
+
+#endif /* MODULES_PREDICTION_COMMON_SCENARIO_FEATURES_H_ */