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# simulation\_framework::evaluator::BaseEvaluator Class Reference
Last update: 16.07.2025
This is the implementation of [IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml "class IEvaluator") interface and provides users ability to evaluate KPIs that are added by themselves. This class controls all KPIs centrally and fill/reset the KpiMessage accordingly based on each KPI's calculation result. [More...](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#details)
`#include <base_evaluator.h>`
Inheritance diagram for simulation_framework::evaluator::BaseEvaluator:
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Collaboration diagram for simulation_framework::evaluator::BaseEvaluator:
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## Public Member Functions
void [Init](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a2c79b6267cc4da10eabdc7f87a648e48) () void [Reset](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a688d826f7112e8f8f6561e6ebaeb6a09) () void [Evaluate](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a6fb2ef47d7255c49aee0c8a469b8fd1a) () void [AddKpi](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#ab4b009e8c649215e9efa0538a26e5434) (kpi::IKpiPtr kpi) kpi::KpiMessage [GetKpiMessage](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a71c2d66129809f394b74069a92649b7d) () const void [SetGroundTruth](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a042e972003ab591146f202d580c73b21) (const avx\_osi3::GroundTruth &ground\_truth) ## Detailed Description
This is the implementation of [IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml "class IEvaluator") interface and provides users ability to evaluate KPIs that are added by themselves. This class controls all KPIs centrally and fill/reset the KpiMessage accordingly based on each KPI's calculation result.
To join the simulation, the evaluator must be injected into an Activity and required KPIs need to be added using [AddKpi(kpi::IKpiPtr kpi)](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#ab4b009e8c649215e9efa0538a26e5434).
Example of creating one customized KpiEvaluatorActivity containing 2 KPIs and publish the KpiMessage into KpiLoggerTopic to have the KPI results in output json
class MyFirstKpi : public kpi::IKpi
{
public:
MyFirstKpi(const std::string& kpi_name): kpi_name_(kpi_name) {}
void [Init](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a2c79b6267cc4da10eabdc7f87a648e48)() override {}
void [Reset](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a688d826f7112e8f8f6561e6ebaeb6a09)() override {}
kpi::KpiContent CalculateKpi(const avx_osi3::GroundTruth& ground_truth) override
{
kpi::KpiContent [kpi](namespacekpi.xhtml);
return [kpi](namespacekpi.xhtml);
}
kpi::Type GetKpiType() const override { return kpi::Type::kScalar; }
};
class MySecondKpi : public kpi::IKpi {
class MyKpiEvaluatorActivity : public BaseActivity
{
public:
MyKpiEvaluatorActivity(const std::string& name,
const Topics& topics,
evaluator::kpi::IKpiMessageConverterPtr kpi_message_converter,
evaluator::IEvaluatorPtr [evaluator](namespaceevaluator.xhtml))
: BaseActivity(name, topics),
kpi_message_converter_(std::move(kpi_message_converter)),
evaluator_(std::move([evaluator](namespaceevaluator.xhtml)))
{
evaluator_->Init();
}
~MyKpiEvaluatorActivity() = default;
void AddPublisherAndSubscriber() override
{
AddSubscriber<core::Topic<rtidds::GenericBytesMessage>>(
"SensorViewTopic", [&](const rtidds::GenericBytesMessage& sv_bytes_msg) {
if (!osi_proto_sv_.ParseFromArray(sv_bytes_msg.bytes_array().data(), sv_bytes_msg.size()))
{
throw std::runtime_error(
"\[MyKpiEvaluatorActivity\]: Error parsing "
"osi proto msg from bytes array!");
}
});
AddPublisher<core::Topic<rtidds::KpiMessage>>("KpiLoggerTopic", [&]() {
const auto dds_kpi_message = kpi_message_converter_->ConvertToDds(kpi_message_);
return dds_kpi_message;
});
}
void ExecuteStep() override
{
evaluator_->SetGroundTruth(osi_proto_sv_.global_ground_truth());
evaluator_->Evaluate();
kpi_message_ = evaluator_->GetKpiMessage();
}
private:
evaluator::kpi::IKpiMessageConverterPtr kpi_message_converter_;
evaluator::IEvaluatorPtr evaluator_;
evaluator::kpi::KpiMessage kpi_message_;
avx_osi3::SensorView osi_proto_sv_{};
};
auto my_first_kpi = std::make_unique<MyFirstKpi>("kpi\_1");
auto my_second_kpi = std::make_unique<MySecondKpi>("kpi\_2");
auto [evaluator](namespaceevaluator.xhtml) = std::make_unique<simulation_framework::evaluator::BaseEvaluator>();
[evaluator](namespaceevaluator.xhtml)->AddKpi(std::move(my_first_kpi));
[evaluator](namespaceevaluator.xhtml)->AddKpi(std::move(my_second_kpi));
auto kpi_message_converter = std::make_unique<evaluator::kpi::KpiMessageConverter>();
auto my_kpi_evaluator_activity = std::make_unique<MyKpiEvaluatorActivity>(
"MyKpiEvaluatorActivity",
Topics{topic_registry::GetExistingTopicById("SensorViewTopic"),
topic_registry::GetExistingTopicById("KpiLoggerTopic")},
std::move(kpi_message_converter),
std::move([evaluator](namespaceevaluator.xhtml)));
## Member Function Documentation
## [◆ ](#ab4b009e8c649215e9efa0538a26e5434)AddKpi()
void simulation\_framework::evaluator::BaseEvaluator::AddKpi ( kpi::IKpiPtr *kpi*) virtual
Add one KPI into this evaluator
Parameters kpiThe iKpi interface Implements [simulation\_framework::evaluator::IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml#a0ce6030014428862f9045b23646a979a).
## [◆ ](#a6fb2ef47d7255c49aee0c8a469b8fd1a)Evaluate()
void simulation\_framework::evaluator::BaseEvaluator::Evaluate ( ) virtual
Calculate all KPIs (call all kpi->CalculateKpi(gt);) which are added in this evaluator and fill the KpiMessage
Implements [simulation\_framework::evaluator::IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml#ad57b87c746be02f976f6446355adba0f).
## [◆ ](#a71c2d66129809f394b74069a92649b7d)GetKpiMessage()
kpi::KpiMessage simulation\_framework::evaluator::BaseEvaluator::GetKpiMessage ( ) const virtual
Get the filled KPI messages based on calculation of all KPIs
ReturnsA kpi::KpiMessage object, the vector of KpiContent represents of all added KPIs into this evaluator Implements [simulation\_framework::evaluator::IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml#ab0f3c91ae7570b0316536ad935347f29).
## [◆ ](#a2c79b6267cc4da10eabdc7f87a648e48)Init()
void simulation\_framework::evaluator::BaseEvaluator::Init ( ) virtual
Initial all KPIs (call all kpi->[Init()](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a2c79b6267cc4da10eabdc7f87a648e48);) which are added in this evaluator
Implements [simulation\_framework::evaluator::IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml#afda42274ea5a6cbf100dd37c75c18ad1).
## [◆ ](#a688d826f7112e8f8f6561e6ebaeb6a09)Reset()
void simulation\_framework::evaluator::BaseEvaluator::Reset ( ) virtual
Clear KpiMessage and reset all KPIs (call all kpi->[Reset()](classsimulation__framework_1_1evaluator_1_1BaseEvaluator.xhtml#a688d826f7112e8f8f6561e6ebaeb6a09);) which are added in this evaluator
Implements [simulation\_framework::evaluator::IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml#a7de1d24ee59889bdde8a3920db7b9a8e).
## [◆ ](#a042e972003ab591146f202d580c73b21)SetGroundTruth()
void simulation\_framework::evaluator::BaseEvaluator::SetGroundTruth ( const avx\_osi3::GroundTruth & *ground\_truth*) virtual
Set GroundTruth message for KPI calculations
Parameters ground\_truthThe osi groundtruth type in protobuf Implements [simulation\_framework::evaluator::IEvaluator](classsimulation__framework_1_1evaluator_1_1IEvaluator.xhtml#a7c9ad6bc77c910ee07a46575d92c95fa).
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The documentation for this class was generated from the following file:- [base\_evaluator.h](base__evaluator_8h_source.xhtml)