/****************************************************************************** * 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. *****************************************************************************/ #ifndef MODULES_PREDICTION_COMMON_PREDICTION_GFLAGS_H_ #define MODULES_PREDICTION_COMMON_PREDICTION_GFLAGS_H_ #include "gflags/gflags.h" // System gflags DECLARE_string(prediction_module_name); DECLARE_string(prediction_conf_file); DECLARE_string(prediction_adapter_config_filename); DECLARE_string(prediction_data_file_prefix); DECLARE_bool(prediction_test_mode); DECLARE_double(prediction_test_duration); DECLARE_bool(prediction_offline_mode); DECLARE_double(prediction_duration); DECLARE_double(prediction_period); DECLARE_double(double_precision); DECLARE_double(min_prediction_length); // Bag replay timestamp gap DECLARE_double(replay_timestamp_gap); // Map DECLARE_double(lane_search_radius); DECLARE_double(lane_search_radius_in_junction); DECLARE_double(junction_search_radius); // Obstacle features DECLARE_bool(enable_kf_tracking); DECLARE_double(max_acc); DECLARE_double(min_acc); DECLARE_double(max_speed); DECLARE_double(q_var); DECLARE_double(r_var); DECLARE_double(p_var); DECLARE_double(go_approach_rate); DECLARE_int32(still_obstacle_history_length); DECLARE_double(still_obstacle_speed_threshold); DECLARE_double(still_pedestrian_speed_threshold); DECLARE_double(still_obstacle_position_std); DECLARE_double(still_pedestrian_position_std); DECLARE_double(max_history_time); DECLARE_double(target_lane_gap); DECLARE_int32(max_num_current_lane); DECLARE_int32(max_num_nearby_lane); DECLARE_double(max_lane_angle_diff); DECLARE_int32(max_num_current_lane_in_junction); DECLARE_int32(max_num_nearby_lane_in_junction); DECLARE_double(max_lane_angle_diff_in_junction); DECLARE_bool(enable_pedestrian_acc); DECLARE_double(coeff_mul_sigma); DECLARE_double(pedestrian_max_speed); DECLARE_double(pedestrian_max_acc); DECLARE_double(prediction_pedestrian_total_time); DECLARE_double(still_speed); DECLARE_string(evaluator_vehicle_mlp_file); DECLARE_string(evaluator_vehicle_rnn_file); DECLARE_int32(max_num_obstacles); DECLARE_double(valid_position_diff_threshold); DECLARE_double(valid_position_diff_rate_threshold); DECLARE_double(split_rate); DECLARE_double(rnn_min_lane_relatice_s); DECLARE_bool(adjust_velocity_by_obstacle_heading); DECLARE_bool(adjust_velocity_by_position_shift); DECLARE_double(heading_filter_param); // Cost evaluator // Obstacle trajectory DECLARE_double(lane_sequence_threshold); DECLARE_double(lane_change_dist); DECLARE_bool(enable_lane_sequence_acc); DECLARE_bool(enable_trim_prediction_trajectory); DECLARE_bool(enable_trajectory_validation_check); DECLARE_double(distance_beyond_junction); DECLARE_double(adc_trajectory_search_length); DECLARE_double(virtual_lane_radius); DECLARE_double(default_lateral_approach_speed); DECLARE_double(centripedal_acc_threshold); // move sequence prediction DECLARE_double(time_upper_bound_to_lane_center); DECLARE_double(time_lower_bound_to_lane_center); DECLARE_double(sample_time_gap); DECLARE_double(cost_alpha); DECLARE_double(default_time_to_lat_end_state); DECLARE_double(turning_curvature_lower_bound); DECLARE_double(turning_curvature_upper_bound); DECLARE_double(speed_at_lower_curvature); DECLARE_double(speed_at_upper_curvature); #endif // MODULES_PREDICTION_COMMON_PREDICTION_GFLAGS_H_