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# simulation\_framework::evaluator::GtBaseEvaluator Class Reference
Last update: 16.07.2025
This is the implementation of 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_1GtBaseEvaluator.xhtml#details)
`#include <gt_base_evaluator.h>`
Inheritance diagram for simulation_framework::evaluator::GtBaseEvaluator:
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Collaboration diagram for simulation_framework::evaluator::GtBaseEvaluator:
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## Public Member Functions
void [Init](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#a930cb234264aa995b30eab8c537a15ad) () void [Reset](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#acacfb885fab2f83b114e870fa9433f3d) () void [Evaluate](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#a09b8959aaaacce2b842abfd304b63674) () void [AddKpi](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#a7d9970bad7943a552c385b01785fb66f) (std::unique\_ptr< [core::kpi::IKpi](classsimulation__framework_1_1core_1_1kpi_1_1IKpi.xhtml)< osi3::GroundTruth > > kpi) override core::kpi::KpiMessage [GetKpiMessage](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#a2e37677f4b8884d78f028589c6adac48) () const void [SetInput](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#adc68080d44c2f5a294dbb511fe7d1c77) (const osi3::GroundTruth &ground\_truth)  Public Member Functions inherited from [simulation\_framework::core::IEvaluator< osi3::GroundTruth >](classsimulation__framework_1_1core_1_1IEvaluator.xhtml)[virtual](classsimulation__framework_1_1core_1_1Topic.xhtml) [void](classsimulation__framework_1_1core_1_1Topic.xhtml) **AddKpi** (std::unique\_ptr< [kpi::IKpi](classsimulation__framework_1_1core_1_1kpi_1_1IKpi.xhtml)< osi3::GroundTruth > > kpi)=0 ## Detailed Description
This is the implementation of 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(std::unique\_ptr<core::kpi::IKpi<osi3::GroundTruth>> kpi)](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#a7d9970bad7943a552c385b01785fb66f).
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 [core::kpi::IKpi](classsimulation__framework_1_1core_1_1kpi_1_1IKpi.xhtml)<osi3::GroundTruth>
{
public:
MyFirstKpi(const std::string& kpi_name): kpi_name_(kpi_name) {}
void Init() override {}
void Reset() override {}
kpi::KpiContent CalculateKpi(const 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 [core](namespacecore.xhtml):kpi::IKpi<osi3::GroundTruth> {
class MyKpiEvaluatorActivity : public BaseActivity
{
public:
MyKpiEvaluatorActivity(const std::string& name,
const Topics& topics,
evaluator::std::unique_ptr<kpi::IKpiMessageConverter> kpi_message_converter,
std::unique_ptr<core::IEvaluator<osi3::GroundTruth>> [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_->SetInput(osi_proto_sv_.global_ground_truth());
evaluator_->Evaluate();
kpi_message_ = evaluator_->GetKpiMessage();
}
private:
evaluator::std::unique_ptr<kpi::IKpiMessageConverter> kpi_message_converter_;
std::unique_ptr<core::IEvaluator<osi3::GroundTruth>>evaluator_;
core::kpi::KpiMessage kpi_message_;
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<core::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)));
[simulation\_framework::core::kpi::IKpi](classsimulation__framework_1_1core_1_1kpi_1_1IKpi.xhtml)
Represents core KPI calculation logic.
**Definition** [i\_kpi.h:39](i__kpi_8h_source.xhtml#l00038)
[core](namespacecore.xhtml)
The namespace for all core functionalities under namespace simulation_framework.
[evaluator](namespaceevaluator.xhtml)
The namespace containing evaluator implementations.
[kpi](namespacekpi.xhtml)
The namespace for kpi definition and corresponding APIs under namespace simulation_framework::evaluat...
Definition at line [132](gt__base__evaluator_8h_source.xhtml#l00132) of file [gt\_base\_evaluator.h](gt__base__evaluator_8h_source.xhtml).
## Member Function Documentation
## [◆ ](#a7d9970bad7943a552c385b01785fb66f)AddKpi()
void simulation\_framework::evaluator::GtBaseEvaluator::AddKpi ( std::unique\_ptr< [core::kpi::IKpi](classsimulation__framework_1_1core_1_1kpi_1_1IKpi.xhtml)< osi3::GroundTruth > > *kpi*) override
Add one KPI into this evaluator
Parameters kpiThe iKpi interface
## [◆ ](#a09b8959aaaacce2b842abfd304b63674)Evaluate()
void simulation\_framework::evaluator::GtBaseEvaluator::Evaluate ( ) virtual
Calculate all KPIs (call all kpi->CalculateKpi(gt);) which are added in this evaluator and fill the KpiMessage
Implements [simulation\_framework::core::IEvaluator< osi3::GroundTruth >](classsimulation__framework_1_1core_1_1IEvaluator.xhtml#a251fb9feee11d29b6c4bd5161a7b7089).
## [◆ ](#a2e37677f4b8884d78f028589c6adac48)GetKpiMessage()
core::kpi::KpiMessage simulation\_framework::evaluator::GtBaseEvaluator::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::core::IEvaluator< osi3::GroundTruth >](classsimulation__framework_1_1core_1_1IEvaluator.xhtml#a81ab03795b81308e647d4f7022a64d4a).
## [◆ ](#a930cb234264aa995b30eab8c537a15ad)Init()
void simulation\_framework::evaluator::GtBaseEvaluator::Init ( ) virtual
Initial all KPIs (call all kpi->[Init()](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#a930cb234264aa995b30eab8c537a15ad);) which are added in this evaluator
Implements [simulation\_framework::core::IEvaluator< osi3::GroundTruth >](classsimulation__framework_1_1core_1_1IEvaluator.xhtml#ac62458dfff2bf4a0287bc48335bec4ff).
## [◆ ](#acacfb885fab2f83b114e870fa9433f3d)Reset()
void simulation\_framework::evaluator::GtBaseEvaluator::Reset ( ) virtual
Clear KpiMessage and reset all KPIs (call all kpi->[Reset()](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.xhtml#acacfb885fab2f83b114e870fa9433f3d);) which are added in this evaluator
Implements [simulation\_framework::core::IEvaluator< osi3::GroundTruth >](classsimulation__framework_1_1core_1_1IEvaluator.xhtml#a4f2140b6e5dc9289d084c601c1f28cf2).
## [◆ ](#adc68080d44c2f5a294dbb511fe7d1c77)SetInput()
void simulation\_framework::evaluator::GtBaseEvaluator::SetInput ( const osi3::GroundTruth & *ground\_truth*) virtual
Set GroundTruth message for KPI calculations
Parameters ground\_truthThe osi groundtruth type in protobuf Implements [simulation\_framework::core::IEvaluator< osi3::GroundTruth >](classsimulation__framework_1_1core_1_1IEvaluator.xhtml#a17db67a251425e3ecc47d45c03a1b056).
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The documentation for this class was generated from the following file:- [gt\_base\_evaluator.h](gt__base__evaluator_8h_source.xhtml)