add vehicle evaluator base class (#26)

modules/prediction/evaluator/BUILD

@@ -31,7 +31,7 @@ cc_library(
     name = "evaluator",
     hdrs = ["evaluator.h"],
     deps = [
-    
+        "//modules/prediction/container/obstacles:obstacle"
     ]
 )
 

modules/prediction/evaluator/evaluator.h

@@ -22,8 +22,8 @@
 #ifndef MODULES_PREDICTION_EVALUATOR_EVALUATOR_H_
 #define MODULES_PREDICTION_EVALUATOR_EVALUATOR_H_
 
-#include <google/protobuf/message.h>
-
+#include "google/protobuf/message.h"
+#include "modules/prediction/container/obstacles/obstacle.h"
 /**
  * @namespace apollo::prediction
  * @brief apollo::prediction
@@ -42,6 +42,8 @@ class Evaluator {
    * @brief Destructor
    */
   virtual ~Evaluator() = default;
+
+  virtual void Evaluate(Obstacle* obstacle) = 0;
 };
 
 }  // namespace prediction

modules/prediction/evaluator/vehicle/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "vehicle_evaluator",
+    hdrs = [
+        "vehicle_evaluator.h",
+    ],
+    srcs = [
+        "vehicle_evaluator.cc",
+    ],
+    deps = [
+        "//modules/prediction/evaluator:evaluator",
+        "//modules/prediction/container/obstacles:obstacle",
+    ],
+)
+
+cpplint()

modules/prediction/evaluator/vehicle/vehicle_evaluator.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 <utility>
+
+#include "modules/prediction/evaluator/vehicle/vehicle_evaluator.h"
+
+namespace apollo {
+namespace prediction {
+
+VehicleEvaluator::VehicleEvaluator() : evaluator_(nullptr) {
+  Init();
+}
+
+void VehicleEvaluator::Init() {
+  CHECK(map_evaluators_.find("DefaultVehicleEvaluator") !=
+        map_evaluators_.end());
+  evaluator_ = map_evaluators_["DefaultVehicleEvaluator"].get();
+
+  // TODO(kechxu) load user defined model taking over the default one
+
+  CHECK(evaluator_ != nullptr);
+}
+
+void VehicleEvaluator::Evaluate(Obstacle* obstacle) {
+  evaluator_->Evaluate(obstacle);
+}
+
+void VehicleEvaluator::RegisterClass(const std::string& name,
+                                     std::unique_ptr<Evaluator> ptr) {
+  map_evaluators_[name] = std::move(ptr);
+}
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/evaluator/vehicle/vehicle_evaluator.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 vehicle evaluator.
+ */
+
+#ifndef MODULES_PREDICTION_EVALUATOR_VEHICLE_VEHICLE_EVALUATOR_H_
+#define MODULES_PREDICTION_EVALUATOR_VEHICLE_VEHICLE_EVALUATOR_H_
+
+#include <string>
+#include <memory>
+#include <unordered_map>
+
+#include "modules/prediction/evaluator/evaluator.h"
+#include "modules/prediction/container/obstacles/obstacle.h"
+
+namespace apollo {
+namespace prediction {
+
+class VehicleEvaluator : public Evaluator {
+ public:
+  VehicleEvaluator();
+
+  virtual ~VehicleEvaluator();
+
+  void Evaluate(Obstacle* obstacle);
+
+  void Clear();
+
+ private:
+  void RegisterClass(const std::string& name, std::unique_ptr<Evaluator> ptr);
+
+  void Init();
+
+ private:
+  Evaluator* evaluator_;
+  std::unordered_map<std::string, std::unique_ptr<Evaluator>> map_evaluators_;
+};
+
+}  // namespace prediction
+}  // namespace apollo
+
+#endif  // MODULES_PREDICTION_EVALUATOR_VEHICLE_VEHICLE_EVALUATOR_H_