Prediction: minor changes.

modules/prediction/common/prediction_gflags.cc

@@ -118,6 +118,9 @@ DEFINE_string(evaluator_vehicle_mlp_file,
 DEFINE_string(evaluator_vehicle_rnn_file,
               "/apollo/modules/prediction/data/rnn_vehicle_model.bin",
               "rnn model file for vehicle evaluator");
+DEFINE_string(evaluator_vehicle_cruise_mlp_file,
+              "/apollo/modules/prediction/data/cruise_mlp_vehicle_model.bin",
+              "Vehicle cruise MLP model file");
 DEFINE_string(evaluator_vehicle_junction_mlp_file,
               "/apollo/modules/prediction/data/junction_mlp_vehicle_model.bin",
               "Vehicle junction MLP model file");

modules/prediction/common/prediction_gflags.h

@@ -81,6 +81,7 @@ DECLARE_double(prediction_pedestrian_total_time);
 DECLARE_double(still_speed);
 DECLARE_string(evaluator_vehicle_mlp_file);
 DECLARE_string(evaluator_vehicle_rnn_file);
+DECLARE_string(evaluator_vehicle_cruise_mlp_file);
 DECLARE_string(evaluator_vehicle_junction_mlp_file);
 DECLARE_int32(max_num_obstacles);
 DECLARE_double(valid_position_diff_threshold);

modules/prediction/common/prediction_util_test.cc

@@ -62,11 +62,15 @@ TEST(PredictionUtilTest, solve_cubic_polynomial_and_evaluate) {
   double param = 5.0;
 
   auto coefs = ComputePolynomial<3>(start, end, param);
-  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, 0.0, 0, param, 1.0), start[0]);
-  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, 0.0, 1, param, 1.0), start[1]);
-
-  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, param, 0, param, 1.0), end[0]);
-  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, param, 1, param, 1.0), end[1]);
+  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, 0.0, 0, param, 1.0),
+                                           start[0]);
+  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, 0.0, 1, param, 1.0),
+                                           start[1]);
+
+  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, param, 0, param, 1.0),
+                                           end[0]);
+  EXPECT_DOUBLE_EQ(EvaluateCubicPolynomial(coefs, param, 1, param, 1.0),
+                                           end[1]);
 }
 
 }  // namespace math_util

modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.cc

@@ -21,7 +21,7 @@ namespace apollo {
 namespace prediction {
 
 CruiseMLPEvaluator::CruiseMLPEvaluator() {
-  LoadModel(FLAGS_evaluator_vehicle_junction_mlp_file);
+  LoadModel(FLAGS_evaluator_vehicle_cruise_mlp_file);
 }
 
 void CruiseMLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {

modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.h

@@ -59,7 +59,6 @@ class CruiseMLPEvaluator : public Evaluator {
   double ComputeFinishTime(const std::vector<double>& feature_values);
 
  private:
-  std::unordered_map<int, std::vector<std::string>> junction_exit_lane_ids_;
 };
 
 }  // namespace prediction