mlf_motion_measurement.h

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/******************************************************************************
 * Copyright 2018 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.
 *****************************************************************************/
#pragma once

#include "cyber/common/macros.h"
#include "modules/perception/lidar/lib/tracker/common/mlf_track_data.h"
#include "modules/perception/lidar/lib/tracker/common/tracked_object.h"

namespace apollo {
namespace perception {
namespace lidar {

class MlfMotionMeasurement {
 public:
  MlfMotionMeasurement() = default;
  ~MlfMotionMeasurement() = default;
  // @brief: wrapper of motion measurement functions
  // @params [in]: track_data: track data
  // @params [in]: new_object: object for current updating
  void ComputeMotionMeasurment(const MlfTrackDataConstPtr& track_data,
                               TrackedObjectPtr new_object);

 protected:
  // @brief: select measurement based on track history
  // @params [in]: track data
  // @params [in]: latest object in track
  // @params [out]: new object for storing selection
  void MeasurementSelection(const MlfTrackDataConstPtr& track_data,
                            const TrackedObjectConstPtr& latest_object,
                            TrackedObjectPtr new_object);
  // @brief: estimate measurement quality
  // @params [in]: latest object in track
  // @params [out]: new object for storing quality
  void MeasurementQualityEstimation(const TrackedObjectConstPtr& latest_object,
                                    TrackedObjectPtr new_object);

 private:
  const double EPSILON_TIME = 1e-3;  // or numeric_limits<double>::epsilon()
  const double DEFAULT_FPS = 0.1;
  DISALLOW_COPY_AND_ASSIGN(MlfMotionMeasurement);
};  // class MlfMotionMeasurement

}  // namespace lidar
}  // namespace perception
}  // namespace apollo