add unit test for obstacles_container.cc

modules/prediction/container/obstacles/BUILD

@@ -34,4 +34,23 @@ cc_library(
     ],
 )
 
+cc_test(
+    name = "obstacles_container_test",
+    size = "small",
+    srcs = [
+        "obstacles_container_test.cc",
+    ],
+    data = [
+        "//modules/prediction:prediction_data",
+        "//modules/prediction:prediction_testdata",
+    ],
+    deps = [
+        "//modules/prediction/container/obstacles:obstacles_container",
+        "@gtest//:main",
+        "//modules/prediction/common:prediction_gflags",
+        "//modules/perception/proto:perception_proto",
+        "//modules/common/util:util",
+    ],
+)
+
 cpplint()

modules/prediction/container/obstacles/obstacle.cc

@@ -70,6 +70,10 @@ Obstacle::~Obstacle() {
   current_lanes_.clear();
 }
 
+PerceptionObstacle::Type Obstacle::type() const {
+  return type_;
+}
+
 int Obstacle::id() const {
   std::lock_guard<std::mutex> lock(mutex_);
   return id_;

modules/prediction/container/obstacles/obstacle.h

@@ -47,6 +47,8 @@ class Obstacle {
   void Insert(const apollo::perception::PerceptionObstacle& perception_obstacle,
               const double timestamp);
 
+  apollo::perception::PerceptionObstacle::Type type() const;
+
   int id() const;
 
   double timestamp() const;

modules/prediction/container/obstacles/obstacles_container_test.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 "modules/prediction/container/obstacles/obstacles_container.h"
+
+#include <string>
+
+#include "gtest/gtest.h"
+
+#include "modules/perception/proto/perception_obstacle.pb.h"
+#include "modules/prediction/common/prediction_gflags.h"
+#include "modules/common/util/file.h"
+#include "modules/prediction/container/obstacles/obstacle.h"
+
+namespace apollo {
+namespace prediction {
+
+class ObstaclesContainerTest : public ::testing::Test {
+ public:
+  virtual void SetUp() {
+    std::string file =
+      "modules/prediction/testdata/perception_vehicles_pedestrians.pb.txt";
+    apollo::perception::PerceptionObstacles perception_obstacles;
+    apollo::common::util::GetProtoFromFile(file, &perception_obstacles);
+    FLAGS_map_file = "modules/prediction/testdata/kml_map.bin";
+    container_.Insert(perception_obstacles);
+  }
+ protected:
+  ObstaclesContainer container_;
+};
+
+TEST_F(ObstaclesContainerTest, Vehicles) {
+  Obstacle* obstacle_ptr0 = container_.GetObstacle(0);
+  EXPECT_TRUE(obstacle_ptr0 != nullptr);
+  EXPECT_EQ(obstacle_ptr0->id(), 0);
+  EXPECT_EQ(obstacle_ptr0->type(),
+            apollo::perception::PerceptionObstacle::VEHICLE);
+  Obstacle* obstacle_ptr1 = container_.GetObstacle(1);
+  EXPECT_TRUE(obstacle_ptr1 != nullptr);
+  EXPECT_EQ(obstacle_ptr1->id(), 1);
+  EXPECT_EQ(obstacle_ptr1->type(),
+            apollo::perception::PerceptionObstacle::VEHICLE);
+  Obstacle* obstacle_ptr2 = container_.GetObstacle(2);
+  EXPECT_TRUE(obstacle_ptr2 != nullptr);
+  EXPECT_EQ(obstacle_ptr2->id(), 2);
+  EXPECT_EQ(obstacle_ptr2->type(),
+            apollo::perception::PerceptionObstacle::VEHICLE);
+  Obstacle* obstacle_ptr3 = container_.GetObstacle(3);
+  EXPECT_TRUE(obstacle_ptr3 != nullptr);
+  EXPECT_EQ(obstacle_ptr3->id(), 3);
+  EXPECT_EQ(obstacle_ptr3->type(),
+            apollo::perception::PerceptionObstacle::VEHICLE);
+  Obstacle* obstacle_ptr4 = container_.GetObstacle(4);
+  EXPECT_TRUE(obstacle_ptr4 == nullptr);
+}
+
+TEST_F(ObstaclesContainerTest, Pedestrian) {
+  Obstacle* obstacle_ptr101 = container_.GetObstacle(101);
+  EXPECT_TRUE(obstacle_ptr101 != nullptr);
+  EXPECT_EQ(obstacle_ptr101->id(), 101);
+  EXPECT_EQ(obstacle_ptr101->type(),
+            apollo::perception::PerceptionObstacle::PEDESTRIAN);
+  Obstacle* obstacle_ptr102 = container_.GetObstacle(102);
+  EXPECT_TRUE(obstacle_ptr102 != nullptr);
+  EXPECT_EQ(obstacle_ptr102->id(), 102);
+  EXPECT_EQ(obstacle_ptr102->type(),
+            apollo::perception::PerceptionObstacle::PEDESTRIAN);
+  Obstacle* obstacle_ptr103 = container_.GetObstacle(103);
+  EXPECT_TRUE(obstacle_ptr103 == nullptr);
+}
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/proto/fnn_model_base.proto

@@ -20,5 +20,6 @@ message Layer {
     optional int32 layer_output_dim = 2;
     optional Matrix layer_input_weight = 3;     // weight matrix of |input_dim| x |output_dim|
     optional Vector layer_bias = 4;             // vector of bias, size of |output_dim|
+    optional string layer_activation_type = 5 [deprecated = true];
     optional ActivationFunc layer_activation_func = 6;
 }

modules/prediction/testdata/perception_vehicles_pedestrians.pb.txt

+header {
+  timestamp_sec: 1501183430.161906
+  module_name: "perception"
+  sequence_num: 15839
+}
+perception_obstacle {
+  id: 0
+  position {
+    x: -449.952,
+    y: -161.917,
+    z: 0.0
+  }
+  theta: -0.349
+  velocity {
+    x: 18.794
+    y: -6.839
+    z: 0
+  }
+  length: 4
+  width: 2
+  height: 1
+  tracking_time: 1
+  type: VEHICLE
+  timestamp: 1501183430.1619561
+}
+perception_obstacle {
+  id: 1
+  position {
+    x: -458.941,
+    y: -159.240,
+    z: 0.0
+  }
+  theta: -0.349
+  velocity {
+    x: 18.794
+    y: -6.839
+    z: 0
+  }
+  length: 4
+  width: 2
+  height: 1
+  tracking_time: 1
+  type: VEHICLE
+  timestamp: 1501183430.1619561
+}
+perception_obstacle {
+  id: 2
+  position {
+    x: -469.239,
+    y: -156.665,
+    z: 0.0
+  }
+  theta: -0.349
+  velocity {
+    x: 18.794
+    y: -6.839
+    z: 0
+  }
+  length: 4
+  width: 2
+  height: 1
+  tracking_time: 1
+  type: VEHICLE
+  timestamp: 1501183430.1619561
+}
+perception_obstacle {
+  id: 3
+  position {
+    x: -461.000,
+    y: -155.018,
+    z: 0.0
+  }
+  theta: -0.349
+  velocity {
+    x: 18.794
+    y: -6.839
+    z: 0
+  }
+  length: 4
+  width: 2
+  height: 1
+  tracking_time: 1
+  type: VEHICLE
+  timestamp: 1501183430.1619561
+}
+perception_obstacle {
+  id: 101
+  position {
+    x: -438.879,
+    y: -161.931,
+    z: 0.0
+  }
+  theta: 1.222
+  velocity {
+    x: 1.710
+    y: 4.699
+    z: 0
+  }
+  length: 0.5
+  width: 0.5
+  height: 1.8
+  tracking_time: 1
+  type: PEDESTRIAN
+  timestamp: 1501183430.161906
+}
+perception_obstacle {
+  id: 102
+  position {
+    x: -411.557,
+    y: -182.382,
+    z: 0.0
+  }
+  theta: -0.200
+  velocity {
+    x: 0.001
+    y: 0.001
+    z: 0
+  }
+  length: 0.5
+  width: 0.5
+  height: 1.6
+  tracking_time: 1
+  type: PEDESTRIAN
+  timestamp: 1501183430.161906
+}