Prediction: add interfaces of current frame obstacle ids

liupzone · Jan 15, 2019 · a1a95fb · a1a95fb
1 parent 208fea6
commit a1a95fb
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diff --git a/modules/prediction/container/obstacles/obstacles_container.cc b/modules/prediction/container/obstacles/obstacles_container.cc
@@ -97,6 +97,8 @@ void ObstaclesContainer::Insert(const ::google::protobuf::Message& message) {
   for (const PerceptionObstacle& perception_obstacle :
        perception_obstacles.perception_obstacle()) {
     if (IsPredictable(perception_obstacle)) {
+      curr_frame_non_predictable_obstacle_ids_.push_back(
+          perception_obstacle.id());
       continue;
     }
     Obstacle* obstacle_ptr = GetObstacle(perception_obstacle.id());
@@ -137,6 +139,22 @@ void ObstaclesContainer::Clear() {
   timestamp_ = -1.0;
 }
 
+std::vector<int> ObstaclesContainer::curr_frame_predictable_obstacle_ids() {
+  return curr_frame_predictable_obstacle_ids_;
+}
+
+std::vector<int> ObstaclesContainer::curr_frame_non_predictable_obstacle_ids() {
+  return curr_frame_non_predictable_obstacle_ids_;
+}
+
+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(),
+      curr_frame_non_predictable_obstacle_ids_.begin(),
+      curr_frame_non_predictable_obstacle_ids_.end());
+  return curr_frame_obs_ids;
+}
+
 
 void ObstaclesContainer::InsertPerceptionObstacle(
     const PerceptionObstacle& perception_obstacle, const double timestamp) {

diff --git a/modules/prediction/container/obstacles/obstacles_container.h b/modules/prediction/container/obstacles/obstacles_container.h
@@ -102,6 +102,12 @@ class ObstaclesContainer : public Container {
 
   size_t NumOfObstacles() { return ptr_obstacles_.size(); }
 
+  std::vector<int> curr_frame_predictable_obstacle_ids();
+
+  std::vector<int> curr_frame_non_predictable_obstacle_ids();
+
+  std::vector<int> curr_frame_obstacle_ids();
+
  private:
   Obstacle* GetObstacleWithLRUUpdate(const int obstacle_id);
   /**
@@ -126,6 +132,7 @@ class ObstaclesContainer : public Container {
   // an id_mapping from perception_id to prediction_id
   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::unordered_map<int, int> curr_frame_id_mapping_;
 };