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体验新版 GitCode,发现更多精彩内容 >>
提交
1fa3e438
编写于
4月 01, 2019
作者:
H
Hongyi
提交者:
Xiangquan Xiao
4月 02, 2019
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差异文件
Prediction: enable SetConsideredObstacleIds
上级
dbeb37cd
变更
4
显示空白变更内容
内联
并排
Showing
4 changed file
with
7 addition
and
14 deletion
+7
-14
modules/prediction/container/obstacles/obstacles_container.cc
...les/prediction/container/obstacles/obstacles_container.cc
+2
-10
modules/prediction/evaluator/evaluator_manager.cc
modules/prediction/evaluator/evaluator_manager.cc
+3
-3
modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
...ediction/scenario/prioritization/obstacles_prioritizer.cc
+1
-0
modules/prediction/scenario/right_of_way/right_of_way.cc
modules/prediction/scenario/right_of_way/right_of_way.cc
+1
-1
未找到文件。
modules/prediction/container/obstacles/obstacles_container.cc
浏览文件 @
1fa3e438
...
...
@@ -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
()
...
...
modules/prediction/evaluator/evaluator_manager.cc
浏览文件 @
1fa3e438
...
...
@@ -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
;
}
...
...
modules/prediction/scenario/prioritization/obstacles_prioritizer.cc
浏览文件 @
1fa3e438
...
...
@@ -172,6 +172,7 @@ void ObstaclesPrioritizer::AssignIgnoreLevel() {
ObstaclePriority
::
NORMAL
);
}
}
obstacles_container
->
SetConsideredObstacleIds
();
}
void
ObstaclesPrioritizer
::
AssignCautionLevel
()
{
...
...
modules/prediction/scenario/right_of_way/right_of_way.cc
浏览文件 @
1fa3e438
...
...
@@ -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
;
...
...
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