Planning: define inference input output object

wuqunyong · May 19, 2020 · 9564687 · 9564687
1 parent 55938da
commit 9564687
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Showing 4 changed files with 13 additions and 9 deletions.
diff --git a/modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.cc b/modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.cc
@@ -26,16 +26,15 @@ namespace planning {
 
 BirdviewImgFeatureRenderer::BirdviewImgFeatureRenderer() {}
 
+// TODO(Jinyun): take map name from upstream and move to conf
+static const char ROADMAP_IMG_PATH[] =
+    "/apollo/modules/planning/data/sunnyvale_with_two_offices.png";
+static const char SPEEDLIMITMAP_IMG_PATH[] =
+    "/apollo/modules/planning/data/sunnyvale_with_two_offices_speedlimit.png";
+
 bool BirdviewImgFeatureRenderer::Init(const PlanningSemanticMapConfig& config) {
   config_ = config;
 
-  // TODO(Jinyun): take map name from upstream and move to conf
-  std::string ROADMAP_IMG_PATH =
-      "/apollo/modules/planning/data/"
-      "sunnyvale_with_two_offices.png";
-  std::string SPEEDLIMITMAP_IMG_PATH =
-      "/apollo/modules/planning/data/"
-      "sunnyvale_with_two_offices_speedlimit.png";
   bool roadmap_img_status = LoadRoadMap(ROADMAP_IMG_PATH);
   bool speedlimit_img_status = LoadSpeedlimitMap(SPEEDLIMITMAP_IMG_PATH);
 

diff --git a/modules/planning/learning_based/model_inference/BUILD b/modules/planning/learning_based/model_inference/BUILD
@@ -6,6 +6,9 @@ cc_library(
     name = "model_inference",
     hdrs = ["model_inference.h"],
     copts = ["-DMODULE_NAME=\\\"planning\\\""],
+    deps = [
+        "//modules/planning/proto:learning_data_proto"
+    ],
 )
 
 cc_library(

diff --git a/modules/planning/learning_based/model_inference/model_inference.h b/modules/planning/learning_based/model_inference/model_inference.h
@@ -23,6 +23,8 @@
 
 #include <string>
 
+#include "modules/planning/proto/learning_data.pb.h"
+
 namespace apollo {
 namespace planning {
 
@@ -51,7 +53,7 @@ class ModelInference {
   /**
    * @brief inference a learned model
    */
-  virtual bool Inference() = 0;
+  virtual bool Inference(LearningDataFrame* learning_data_frame) = 0;
 };
 
 }  // namespace planning

diff --git a/modules/planning/learning_based/model_inference/trajectory_conv_rnn_inference.h b/modules/planning/learning_based/model_inference/trajectory_conv_rnn_inference.h
@@ -53,7 +53,7 @@ class TrajectoryConvRnnInference : public ModelInference {
   /**
    * @brief inference a learned model
    */
-  bool Inference() override;
+  bool Inference(LearningDataFrame* learning_data_frame) override;
 };
 
 }  // namespace planning