set the framework for the rest of obstacle.cc

modules/prediction/container/obstacles/obstacle.cc

@@ -137,6 +137,11 @@ void Obstacle::Insert(const PerceptionObstacle& perception_obstacle,
     InitKFMotionTracker(&feature);
   }
   UpdateKFMotionTracker(&feature);
+  SetCurrentLanes(&feature);
+  SetNearbyLanes(&feature);
+  UpdateKFLaneTrackers(&feature);
+  InsertFeatureToHistory(&feature);
+  SetMotionStatus();
 }
 
 ErrorCode Obstacle::SetId(const PerceptionObstacle& perception_obstacle,
@@ -594,5 +599,21 @@ void Obstacle::UpdateLaneBelief(Feature* feature) {
          << " and tracked acc [" << lane_acc << "]";
 }
 
+void Obstacle::SetCurrentLanes(Feature* feature) {
+  // TODO(kechxu) implement
+}
+
+void Obstacle::SetNearbyLanes(Feature* feature) {
+  // TODO(kechxu) implement
+}
+
+void Obstacle::SetMotionStatus() {
+  // TODO(kechxu) implement
+}
+
+void Obstacle::InsertFeatureToHistory(Feature* feature) {
+  // TODO(kechxu) implement
+}
+
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/container/obstacles/obstacle.h

@@ -115,6 +115,14 @@ class Obstacle {
 
   void UpdateLaneBelief(Feature* feature);
 
+  void SetCurrentLanes(Feature* feature);
+
+  void SetNearbyLanes(Feature* feature);
+
+  void SetMotionStatus();
+
+  void InsertFeatureToHistory(Feature* feature);
+
  private:
   int id_;
   apollo::perception::PerceptionObstacle::Type type_;