Initial implement of prediction_map.cc

modules/prediction/common/prediction_gflags.cc

@@ -41,3 +41,5 @@ DEFINE_double(still_obstacle_speed_threshold, 1.0,
     "Speed threshold for still obstacles");
 DEFINE_double(still_obstacle_position_std, 1.0,
     "Position standard deviation for still obstacles");
+// TODO(kechxu) specify the map file here
+DEFINE_string(map_file, "/path/to/map_file", "Path to map file");

modules/prediction/common/prediction_gflags.h

@@ -35,5 +35,6 @@ DECLARE_int32(still_obstacle_history_length);
 DECLARE_bool(enable_kf_tracking);
 DECLARE_double(still_obstacle_speed_threshold);
 DECLARE_double(still_obstacle_position_std);
+DECLARE_string(map_file);
 
 #endif  // MODULES_PREDICTION_COMMON_PREDICTION_GFLAGS_H_

modules/prediction/map/BUILD

@@ -11,9 +11,11 @@ cc_library(
         "prediction_map.cc",
     ],
     deps = [
+        "@eigen//:eigen",
         "//modules/map/hdmap:hdmap",
         "//modules/common:macro",
-    ]
+        "//modules/prediction/common:prediction_common",
+    ],
 )
 
 cpplint()

modules/prediction/map/prediction_map.cc

@@ -15,9 +15,32 @@
  *****************************************************************************/
 
 #include "modules/prediction/map/prediction_map.h"
+#include "modules/prediction/common/prediction_gflags.h"
+#include "modules/map/hdmap/hdmap.h"
 
 namespace apollo {
 namespace prediction {
 
+using apollo::hdmap::LaneInfo;
+
+PredictionMap::PredictionMap() : hdmap_(nullptr) {
+  LoadMap();
+}
+
+PredictionMap::~PredictionMap() {
+  Clear();
+}
+
+void PredictionMap::LoadMap() {
+  hdmap_.reset(new apollo::hdmap::HDMapImpl());
+  CHECK(hdmap_ != nullptr);
+  hdmap_->load_map_from_file(FLAGS_map_file);
+  ADEBUG << "Load map file: " << FLAGS_map_file;
+}
+
+void PredictionMap::Clear() {
+  hdmap_.reset();
+}
+
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/map/prediction_map.h

@@ -19,6 +19,8 @@
 
 #include <memory>
 
+#include "Eigen/Dense"
+
 #include "modules/common/macro.h"
 #include "modules/map/hdmap/hdmap_impl.h"
 
@@ -29,6 +31,13 @@ class PredictionMap {
  public:
   ~PredictionMap();
 
+  void LoadMap();
+
+  void Clear();
+
+  Eigen::Vector2d PositionOnLane(const apollo::hdmap::LaneInfo& lane_info,
+                                 const double s);
+
  private:
   std::unique_ptr<apollo::hdmap::HDMapImpl> hdmap_;
   DECLARE_SINGLETON(PredictionMap);