From 1fa3e4383fd063d4f88dfda4fc12141142401b71 Mon Sep 17 00:00:00 2001
From: Hongyi <henrysun@umich.edu>
Date: Mon, 1 Apr 2019 16:16:29 -0700
Subject: [PATCH] Prediction: enable SetConsideredObstacleIds

---
 .../container/obstacles/obstacles_container.cc       | 12 ++----------
 modules/prediction/evaluator/evaluator_manager.cc    |  6 +++---
 .../scenario/prioritization/obstacles_prioritizer.cc |  1 +
 .../prediction/scenario/right_of_way/right_of_way.cc |  2 +-
 4 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/modules/prediction/container/obstacles/obstacles_container.cc b/modules/prediction/container/obstacles/obstacles_container.cc
index 837eb1fb67..04680be544 100644
--- a/modules/prediction/container/obstacles/obstacles_container.cc
+++ b/modules/prediction/container/obstacles/obstacles_container.cc
@@ -331,16 +331,12 @@ int ObstaclesContainer::PerceptionIdToPredictionId(const int perception_id) {
 void ObstaclesContainer::BuildLaneGraph() {
   // Go through every obstacle in the current frame, after some
   // sanity checks, build lane graph for non-junction cases.
-  for (const int id : curr_frame_predictable_obstacle_ids_) {
+  for (const int id : curr_frame_considered_obstacle_ids_) {
     Obstacle* obstacle_ptr = GetObstacle(id);
     if (obstacle_ptr == nullptr) {
       AERROR << "Null obstacle found.";
       continue;
     }
-    if (obstacle_ptr->ToIgnore()) {
-      ADEBUG << "Ignore obstacle [" << obstacle_ptr->id() << "]";
-      continue;
-    }
     ADEBUG << "Building Lane Graph.";
     obstacle_ptr->BuildLaneGraph();
     ADEBUG << "Building ordered Lane Graph.";
@@ -360,16 +356,12 @@ void ObstaclesContainer::BuildLaneGraph() {
 void ObstaclesContainer::BuildJunctionFeature() {
   // Go through every obstacle in the current frame, after some
   // sanity checks, build junction features for those that are in junction.
-  for (const int id : curr_frame_predictable_obstacle_ids_) {
+  for (const int id : curr_frame_considered_obstacle_ids_) {
     Obstacle* obstacle_ptr = GetObstacle(id);
     if (obstacle_ptr == nullptr) {
       AERROR << "Null obstacle found.";
       continue;
     }
-    if (obstacle_ptr->ToIgnore()) {
-      ADEBUG << "Ignore obstacle [" << obstacle_ptr->id() << "]";
-      continue;
-    }
     const std::string& junction_id = JunctionAnalyzer::GetJunctionId();
     if (obstacle_ptr->IsInJunction(junction_id)) {
       ADEBUG << "Build junction feature for obstacle [" << obstacle_ptr->id()
diff --git a/modules/prediction/evaluator/evaluator_manager.cc b/modules/prediction/evaluator/evaluator_manager.cc
index 6b297a5532..037a906e45 100644
--- a/modules/prediction/evaluator/evaluator_manager.cc
+++ b/modules/prediction/evaluator/evaluator_manager.cc
@@ -139,7 +139,7 @@ void EvaluatorManager::Run() {
   }
 
   std::vector<Obstacle*> dynamic_env;
-  for (int id : obstacles_container->curr_frame_predictable_obstacle_ids()) {
+  for (int id : obstacles_container->curr_frame_considered_obstacle_ids()) {
     if (id < 0) {
       ADEBUG << "The obstacle has invalid id [" << id << "].";
       continue;
@@ -149,8 +149,8 @@ void EvaluatorManager::Run() {
     if (obstacle == nullptr) {
       continue;
     }
-    if (obstacle->ToIgnore() || obstacle->IsStill()) {
-      ADEBUG << "Ignore obstacle [" << id << "] in evaluator_manager";
+    if (obstacle->IsStill()) {
+      ADEBUG << "Ignore still obstacle [" << id << "] in evaluator_manager";
       continue;
     }
 
diff --git a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
index cda38e4c4c..2fd13e4e1c 100644
--- a/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
+++ b/modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
@@ -172,6 +172,7 @@ void ObstaclesPrioritizer::AssignIgnoreLevel() {
           ObstaclePriority::NORMAL);
     }
   }
+  obstacles_container->SetConsideredObstacleIds();
 }
 
 void ObstaclesPrioritizer::AssignCautionLevel() {
diff --git a/modules/prediction/scenario/right_of_way/right_of_way.cc b/modules/prediction/scenario/right_of_way/right_of_way.cc
index ac3321c7b3..e89b6e1161 100644
--- a/modules/prediction/scenario/right_of_way/right_of_way.cc
+++ b/modules/prediction/scenario/right_of_way/right_of_way.cc
@@ -121,7 +121,7 @@ void RightOfWay::Analyze() {
 
   // then loop through all obstacle vehicles
   for (const int id :
-       obstacles_container->curr_frame_predictable_obstacle_ids()) {
+       obstacles_container->curr_frame_considered_obstacle_ids()) {
     Obstacle* obstacle_ptr = obstacles_container->GetObstacle(id);
     if (obstacle_ptr == nullptr) {
       continue;
-- 
GitLab