add feature.proto

modules/prediction/proto/BUILD

@@ -23,6 +23,16 @@ cc_proto_library(
     ],
 )
 
+cc_proto_library(
+    name = "feature_proto",
+    protos = [
+        "feature.proto",
+    ],
+    deps = [
+        "//modules/prediction/proto:lane_graph_proto",
+    ],
+)
+
 py_proto_compile(
     name = "prediction_proto_pylib",
     protos = [

modules/prediction/proto/feature.proto

+syntax = "proto2";
+
+package apollo.prediction;
+
+import "modules/prediction/proto/lane_graph.proto"; 
+
+message Lane {
+    // Features of all possible current lanes
+    repeated LaneFeature current_lane_feature = 1;
+
+    // Features of the most possible current lane
+    optional LaneFeature lane_feature = 2;
+
+    // Features of all nearby lanes
+    repeated LaneFeature nearby_lane_feature = 3;
+
+    // Lane graph
+    optional LaneGraph lane_graph = 4;
+
+    // For modeling
+    optional double label_update_time_delta = 26;
+}
+
+message LaneFeature {
+    optional string lane_id = 1;
+    optional uint32 lane_turn_type = 2;
+    optional double lane_s = 3;
+    optional double lane_l = 4;
+    optional double angle_diff = 5;
+    optional double dist_to_left_boundary = 6;
+    optional double dist_to_right_boundary = 7;
+}
+
+message Feature {
+    // Obstacle ID
+    optional uint32 id = 1;
+
+    // Obstacle features
+    optional Vec3d position = 2;
+    optional Vec3d velocity = 3;
+    optional double velocity_heading = 4;
+    optional double speed = 5;
+    optional Vec3d vec_acc = 6;
+    optional double acc = 7;
+    optional double theta = 8;
+    optional double length = 9;
+    optional double width = 10;
+    optional double height = 11;
+    optional double tracking_time = 12;
+    optional double timestamp = 13;    
+
+    // Obstacle type-specific features
+    optional Lane lane = 14;
+
+    // Obstacle tracked features
+    optional Vec3d t_position = 16;
+    optional Vec3d t_velocity = 17;
+    optional double t_velocity_heading = 18;
+    optional double t_speed = 19;
+    optional Vec3d t_vec_acc = 20;
+    optional double t_acc = 21;
+
+    optional bool is_still = 22 [default = true];
+}