more implement on mlp_evaluator.cc

modules/prediction/evaluator/vehicle/mlp_evaluator.cc

@@ -67,7 +67,45 @@ void MLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {
 void MLPEvaluator::ExtractFeatureValues(Obstacle* obstacle_ptr,
                                         LaneSequence* lane_sequence_ptr) {
   feature_values_.clear();
-  // TODO(kechxu) implement insert feture values into feature_values_
+  int id = obstacle_ptr->id();
+  std::vector<double> obstacle_feature_values;
+  if (obstacle_feature_values_map_.find(id) ==
+      obstacle_feature_values_map_.end()) {
+    SetObstacleFeatureValues(obstacle_ptr, &obstacle_feature_values);
+  } else {
+    obstacle_feature_values = obstacle_feature_values_map_[id];
+  }
+
+  if (obstacle_feature_values.size() != OBSTACLE_FEATURE_SIZE) {
+    ADEBUG << "Obstacle [" << id << "] has fewer than "
+           << "expected obstacle features "
+           << obstacle_feature_values.size() << ".";
+    return;
+  }
+
+  std::vector<double> lane_feature_values;
+  SetLaneFeatureValues(obstacle_ptr, lane_sequence_ptr, &lane_feature_values);
+  if (lane_feature_values.size() != LANE_FEATURE_SIZE) {
+    ADEBUG << "Obstacle [" << id << "] has fewer than "
+           << "expected lane features"
+           << lane_feature_values.size() << ".";
+    return;
+  }
+
+  feature_values_.insert(feature_values_.end(),
+      lane_feature_values.begin(), lane_feature_values.end());
+  feature_values_.insert(feature_values_.end(),
+      lane_feature_values.begin(), lane_feature_values.end());
+}
+
+void MLPEvaluator::SetObstacleFeatureValues(Obstacle* obstacle,
+    std::vector<double>* feature_values) {
+  // TODO(kechxu) implement
+}
+
+void MLPEvaluator::SetLaneFeatureValues(Obstacle* obstacle,
+    LaneSequence* lane_sequence, std::vector<double>* features) {
+  // TODO(kechxu) implement
 }
 
 }  // namespace prediction

modules/prediction/evaluator/vehicle/mlp_evaluator.h

@@ -18,6 +18,7 @@
 #define MODULES_PREDICTION_EVALUATOR_VEHICLE_MLP_EVALUATOR_H_
 
 #include <vector>
+#include <unordered_map>
 
 #include "modules/prediction/evaluator/evaluator.h"
 #include "modules/prediction/container/obstacles/obstacle.h"
@@ -38,6 +39,19 @@ class MLPEvaluator : public Evaluator {
                             LaneSequence* lane_sequence_ptr);
 
   void Clear();
+
+ private:
+  void SetObstacleFeatureValues(Obstacle* obstacle,
+                                std::vector<double>* feature_values);
+
+  void SetLaneFeatureValues(Obstacle* obstacle,
+                            LaneSequence* lane_sequence,
+                            std::vector<double>* features);
+
+ private:
+  std::unordered_map<int, std::vector<double>> obstacle_feature_values_map_;
+  static const size_t OBSTACLE_FEATURE_SIZE = 18;
+  static const size_t LANE_FEATURE_SIZE = 20;
 };
 
 }  // namespace prediction