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31 lines
795 B
31 lines
795 B
#pragma once
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#include "selfdrive/modeld/runners/runmodel.h"
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#include "selfdrive/modeld/thneed/thneed.h"
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class ThneedModel : public RunModel {
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public:
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ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false);
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void addRecurrent(float *state, int state_size);
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void addTrafficConvention(float *state, int state_size);
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void addDesire(float *state, int state_size);
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void addImage(float *image_buf, int buf_size);
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void addExtra(float *image_buf, int buf_size);
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void execute();
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void* getInputBuf();
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void* getExtraBuf();
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private:
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Thneed *thneed = NULL;
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bool recorded;
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bool use_extra;
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float *input;
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float *extra;
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float *output;
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// recurrent and desire
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float *recurrent;
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float *trafficConvention;
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float *desire;
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};
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