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41 lines
785 B
41 lines
785 B
#ifndef MODELDATA_H
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#define MODELDATA_H
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#define MODEL_PATH_DISTANCE 192
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#define POLYFIT_DEGREE 4
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#define SPEED_PERCENTILES 10
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#define DESIRE_PRED_SIZE 32
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#define OTHER_META_SIZE 4
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typedef struct PathData {
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float points[MODEL_PATH_DISTANCE];
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float prob;
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float std;
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float stds[MODEL_PATH_DISTANCE];
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float poly[POLYFIT_DEGREE];
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float validLen;
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} PathData;
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typedef struct LeadData {
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float dist;
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float prob;
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float std;
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float rel_y;
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float rel_y_std;
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float rel_v;
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float rel_v_std;
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float rel_a;
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float rel_a_std;
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} LeadData;
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typedef struct ModelData {
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PathData path;
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PathData left_lane;
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PathData right_lane;
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LeadData lead;
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LeadData lead_future;
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float meta[OTHER_META_SIZE + DESIRE_PRED_SIZE];
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float speed[SPEED_PERCENTILES];
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} ModelData;
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#endif
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