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f596f958
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apollo
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体验新版 GitCode,发现更多精彩内容 >>
提交
f596f958
编写于
7月 27, 2017
作者:
C
Calvin Miao
提交者:
Kecheng Xu
7月 27, 2017
浏览文件
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电子邮件补丁
差异文件
Modified container obtaining function name
上级
0518caf5
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
17 addition
and
14 deletion
+17
-14
modules/prediction/container/container_manager.cc
modules/prediction/container/container_manager.cc
+1
-1
modules/prediction/container/container_manager.h
modules/prediction/container/container_manager.h
+1
-1
modules/prediction/evaluator/evaluator_manager.cc
modules/prediction/evaluator/evaluator_manager.cc
+12
-9
modules/prediction/prediction.cc
modules/prediction/prediction.cc
+2
-2
modules/prediction/predictor/predictor_manager.cc
modules/prediction/predictor/predictor_manager.cc
+1
-1
未找到文件。
modules/prediction/container/container_manager.cc
浏览文件 @
f596f958
...
...
@@ -36,7 +36,7 @@ void ContainerManager::RegisterContainers() {
RegisterContainer
(
"Pose"
);
}
Container
*
ContainerManager
::
mutable_c
ontainer
(
const
std
::
string
&
name
)
{
Container
*
ContainerManager
::
GetC
ontainer
(
const
std
::
string
&
name
)
{
if
(
containers_
.
find
(
name
)
!=
containers_
.
end
())
{
return
containers_
[
name
].
get
();
}
else
{
...
...
modules/prediction/container/container_manager.h
浏览文件 @
f596f958
...
...
@@ -53,7 +53,7 @@ class ContainerManager {
* @param Name of the container
* @return Pointer to the container given the name
*/
Container
*
mutable_c
ontainer
(
const
std
::
string
&
name
);
Container
*
GetC
ontainer
(
const
std
::
string
&
name
);
private:
/**
...
...
modules/prediction/evaluator/evaluator_manager.cc
浏览文件 @
f596f958
...
...
@@ -50,28 +50,31 @@ void EvaluatorManager::Run(
const
::
apollo
::
perception
::
PerceptionObstacles
&
perception_obstacles
)
{
AINFO
<<
"Start run evaluator manager"
;
ObstaclesContainer
*
container
=
dynamic_cast
<
ObstaclesContainer
*>
(
ContainerManager
::
instance
()
->
mutable_c
ontainer
(
"PerceptionObstacles"
));
ContainerManager
::
instance
()
->
GetC
ontainer
(
"PerceptionObstacles"
));
CHECK_NOTNULL
(
container
);
AINFO
<<
"Start for loop"
;
Evaluator
*
evaluator
=
nullptr
;
for
(
const
auto
&
perception_obstacle
:
perception_obstacles
.
perception_obstacle
())
{
int
id
=
perception_obstacle
.
id
();
Obstacle
*
obstacle
=
container
->
GetObstacle
(
id
);
CHECK_NOTNULL
(
obstacle
);
switch
(
perception_obstacle
.
type
())
{
case
PerceptionObstacle
::
VEHICLE
:
{
Evaluator
*
evaluator
=
GetEvaluator
(
ObstacleConf
::
MLP_EVALUATOR
);
CHECK_NOTNULL
(
evaluator
);
AINFO
<<
"evaluator got"
;
Obstacle
*
obstacle
=
container
->
GetObstacle
(
id
);
CHECK_NOTNULL
(
obstacle
);
AINFO
<<
"obstacle got with id = "
<<
obstacle
->
id
();
evaluator
->
Evaluate
(
obstacle
);
AINFO
<<
"evaluate done"
;
if
(
obstacle
->
IsOnLane
())
{
evaluator
=
GetEvaluator
(
ObstacleConf
::
MLP_EVALUATOR
);
CHECK_NOTNULL
(
evaluator
);
}
break
;
}
default:
{
break
;
}
}
if
(
evaluator
!=
nullptr
)
{
evaluator
->
Evaluate
(
obstacle
);
}
}
}
...
...
modules/prediction/prediction.cc
浏览文件 @
f596f958
...
...
@@ -74,7 +74,7 @@ void Prediction::Stop() {}
void
Prediction
::
OnPerception
(
const
PerceptionObstacles
&
perception_obstacles
)
{
auto
localization_adapter
=
AdapterManager
::
GetLocalization
();
ObstaclesContainer
*
obstacles_container
=
dynamic_cast
<
ObstaclesContainer
*>
(
ContainerManager
::
instance
()
->
mutable_c
ontainer
(
"PerceptionObstacles"
));
ContainerManager
::
instance
()
->
GetC
ontainer
(
"PerceptionObstacles"
));
if
(
localization_adapter
->
Empty
())
{
ADEBUG
<<
"No localization message."
;
}
else
{
...
...
@@ -84,7 +84,7 @@ void Prediction::OnPerception(const PerceptionObstacles &perception_obstacles) {
<<
localization
.
ShortDebugString
()
<<
"]."
;
PoseContainer
*
pose_container
=
dynamic_cast
<
PoseContainer
*>
(
ContainerManager
::
instance
()
->
mutable_c
ontainer
(
"Pose"
));
ContainerManager
::
instance
()
->
GetC
ontainer
(
"Pose"
));
pose_container
->
Insert
(
localization
);
obstacles_container
->
InsertPerceptionObstacle
(
*
(
pose_container
->
ToPerceptionObstacle
()),
...
...
modules/prediction/predictor/predictor_manager.cc
浏览文件 @
f596f958
...
...
@@ -53,7 +53,7 @@ void PredictorManager::Run(
const
PerceptionObstacles
&
perception_obstacles
)
{
prediction_obstacles_
.
Clear
();
ObstaclesContainer
*
container
=
dynamic_cast
<
ObstaclesContainer
*>
(
ContainerManager
::
instance
()
->
mutable_c
ontainer
(
"PerceptionObstacles"
));
ContainerManager
::
instance
()
->
GetC
ontainer
(
"PerceptionObstacles"
));
CHECK_NOTNULL
(
container
);
Predictor
*
predictor
=
nullptr
;
...
...
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