text: /******************************************************************************
   * Copyright 2017 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.
   *****************************************************************************/
  
  #ifndef MODUELS_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_SENSOR_OBJECT_H_  // NOLINT
  #define MODUELS_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_SENSOR_OBJECT_H_  // NOLINT
  
  #include <memory>
  #include <string>
  #include <vector>
  #include "modules/perception/obstacle/base/object.h"
  
  namespace apollo {
  namespace perception {
  
  struct PbfSensorObject {
    PbfSensorObject();
    explicit PbfSensorObject(ObjectPtr obj3d, SensorType type, double time);
    ~PbfSensorObject();
    PbfSensorObject(const PbfSensorObject &rhs);
    PbfSensorObject &operator=(const PbfSensorObject &rhs);
    void clone(const PbfSensorObject &rhs);
  
    SensorType sensor_type;
    std::string sensor_id;
    double timestamp;
    ObjectPtr object;
    double invisible_period;
  };
  
  typedef std::shared_ptr<PbfSensorObject> PbfSensorObjectPtr;
  
  struct PbfSensorFrame {
    PbfSensorFrame() { sensor2world_pose = Eigen::Matrix4d::Identity(); }
    SensorType sensor_type = SensorType::UNKNOWN_SENSOR_TYPE;
    std::string sensor_id = "unknown_sensor_type";
    /**@brief capturing timestamp*/
    double timestamp = 0.0;
    int seq_num = 0;
    Eigen::Matrix4d sensor2world_pose;
    std::vector<PbfSensorObjectPtr> objects;
  };
  
  typedef std::shared_ptr<PbfSensorFrame> PbfSensorFramePtr;
  
  }  // namespace perception
  }  // namespace apollo
  
  #endif  // MODUELS_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_SENSOR_OBJECT_H_ // NOLINT
  