Prediction: add new function and set for curr_frame_considered_obstacle_ids_

modules/prediction/container/obstacles/obstacles_container.cc

@@ -42,6 +42,7 @@ void ObstaclesContainer::Insert(const ::google::protobuf::Message& message) {
   curr_frame_id_mapping_.clear();
   curr_frame_predictable_obstacle_ids_.clear();
   curr_frame_non_predictable_obstacle_ids_.clear();
+  curr_frame_considered_obstacle_ids_.clear();
   curr_frame_id_perception_obstacle_map_.clear();
 
   PerceptionObstacles perception_obstacles;
@@ -168,6 +169,27 @@ ObstaclesContainer::curr_frame_non_predictable_obstacle_ids() {
   return curr_frame_non_predictable_obstacle_ids_;
 }
 
+const std::vector<int>&
+ObstaclesContainer::curr_frame_considered_obstacle_ids() {
+  return curr_frame_considered_obstacle_ids_;
+}
+
+void ObstaclesContainer::SetConsideredObstacleIds() {
+  curr_frame_considered_obstacle_ids_.clear();
+  for (const int id : curr_frame_predictable_obstacle_ids_) {
+    Obstacle* obstacle_ptr = GetObstacle(id);
+    if (obstacle_ptr == nullptr) {
+      AERROR << "Null obstacle found.";
+      continue;
+    }
+    if (obstacle_ptr->ToIgnore()) {
+      ADEBUG << "Ignore obstacle [" << obstacle_ptr->id() << "]";
+      continue;
+    }
+    curr_frame_considered_obstacle_ids_.push_back(id);
+  }
+}
+
 std::vector<int> ObstaclesContainer::curr_frame_obstacle_ids() {
   std::vector<int> curr_frame_obs_ids = curr_frame_predictable_obstacle_ids_;
   curr_frame_obs_ids.insert(curr_frame_obs_ids.end(),

modules/prediction/container/obstacles/obstacles_container.h

@@ -111,6 +111,17 @@ class ObstaclesContainer : public Container {
    */
   const std::vector<int>& curr_frame_non_predictable_obstacle_ids();
 
+  /**
+   * @brief Get non-ignore obstacle IDs in the current frame
+   * @return Non-ignore obstacle IDs in the current frame
+   */
+  const std::vector<int>& curr_frame_considered_obstacle_ids();
+
+  /*
+   * @brief Set non-ignore obstacle IDs in the current frame
+   */
+  void SetConsideredObstacleIds();
+
   /**
    * @brief Get current frame obstacle IDs in the current frame
    * @return Current frame obstacle IDs in the current frame
@@ -146,6 +157,7 @@ class ObstaclesContainer : public Container {
   common::util::LRUCache<int, int> id_mapping_;
   std::vector<int> curr_frame_predictable_obstacle_ids_;
   std::vector<int> curr_frame_non_predictable_obstacle_ids_;
+  std::vector<int> curr_frame_considered_obstacle_ids_;
   // perception_id -> prediction_id
   std::unordered_map<int, int> curr_frame_id_mapping_;
   // prediction_id -> perception_obstacle