Modified container obtaining function name

modules/prediction/container/container_manager.cc

@@ -36,7 +36,7 @@ void ContainerManager::RegisterContainers() {
   RegisterContainer("Pose");
 }
 
-Container* ContainerManager::mutable_container(const std::string& name) {
+Container* ContainerManager::GetContainer(const std::string& name) {
   if (containers_.find(name) != containers_.end()) {
     return containers_[name].get();
   } else {

modules/prediction/container/container_manager.h

@@ -53,7 +53,7 @@ class ContainerManager {
    * @param Name of the container
    * @return Pointer to the container given the name
    */
-  Container* mutable_container(const std::string& name);
+  Container* GetContainer(const std::string& name);
 
  private:
   /**

modules/prediction/evaluator/evaluator_manager.cc

@@ -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_container("PerceptionObstacles"));
+      ContainerManager::instance()->GetContainer("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

@@ -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_container("PerceptionObstacles"));
+      ContainerManager::instance()->GetContainer("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_container("Pose"));
+        ContainerManager::instance()->GetContainer("Pose"));
     pose_container->Insert(localization);
     obstacles_container->InsertPerceptionObstacle(
         *(pose_container->ToPerceptionObstacle()),

modules/prediction/predictor/predictor_manager.cc

@@ -53,7 +53,7 @@ void PredictorManager::Run(
     const PerceptionObstacles& perception_obstacles) {
   prediction_obstacles_.Clear();
   ObstaclesContainer *container = dynamic_cast<ObstaclesContainer*>(
-      ContainerManager::instance()->mutable_container("PerceptionObstacles"));
+      ContainerManager::instance()->GetContainer("PerceptionObstacles"));
   CHECK_NOTNULL(container);
 
   Predictor *predictor = nullptr;