|
|
@ -18,19 +18,19 @@ |
|
|
|
constexpr int DESIRE_LEN = 8; |
|
|
|
constexpr int DESIRE_LEN = 8; |
|
|
|
constexpr int TRAFFIC_CONVENTION_LEN = 2; |
|
|
|
constexpr int TRAFFIC_CONVENTION_LEN = 2; |
|
|
|
constexpr int MODEL_FREQ = 20; |
|
|
|
constexpr int MODEL_FREQ = 20; |
|
|
|
struct ModelDataRaw { |
|
|
|
|
|
|
|
float *plan; |
|
|
|
|
|
|
|
float *lane_lines; |
|
|
|
|
|
|
|
float *lane_lines_prob; |
|
|
|
|
|
|
|
float *road_edges; |
|
|
|
|
|
|
|
float *lead; |
|
|
|
|
|
|
|
float *lead_prob; |
|
|
|
|
|
|
|
float *desire_state; |
|
|
|
|
|
|
|
float *meta; |
|
|
|
|
|
|
|
float *desire_pred; |
|
|
|
|
|
|
|
float *pose; |
|
|
|
|
|
|
|
}; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
struct ModelDataRaw { |
|
|
|
|
|
|
|
float *plan; |
|
|
|
|
|
|
|
float *lane_lines; |
|
|
|
|
|
|
|
float *lane_lines_prob; |
|
|
|
|
|
|
|
float *road_edges; |
|
|
|
|
|
|
|
float *lead; |
|
|
|
|
|
|
|
float *lead_prob; |
|
|
|
|
|
|
|
float *desire_state; |
|
|
|
|
|
|
|
float *meta; |
|
|
|
|
|
|
|
float *desire_pred; |
|
|
|
|
|
|
|
float *pose; |
|
|
|
|
|
|
|
}; |
|
|
|
|
|
|
|
|
|
|
|
typedef struct ModelState { |
|
|
|
typedef struct ModelState { |
|
|
|
ModelFrame frame; |
|
|
|
ModelFrame frame; |
|
|
|