AVxcelerate Simulation Framework 2026 R1 SP01

Class simulation_framework::evaluator::GtBaseEvaluator

Last update: 22.04.2026

Definition: autonomy/evaluator/gt_base_evaluator/gt_base_evaluator.h (line 133)

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).

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<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;
        return kpi;
    }
    kpi::Type GetKpiType() const override { return kpi::Type::kScalar; }
};
class MySecondKpi : public core: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)
        : BaseActivity(name, topics),
          kpi_message_converter_(std::move(kpi_message_converter)),
          evaluator_(std::move(evaluator))
    {
        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 = std::make_unique<simulation_framework::evaluator::BaseEvaluator>();
 evaluator->AddKpi(std::move(my_first_kpi));
 evaluator->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{autonomy::topic_registry::GetExistingTopicById("SensorViewTopic"),
autonomy::topic_registry::GetExistingTopicById("KpiLoggerTopic")},
                                                 std::move(kpi_message_converter),
                                                 std::move(evaluator));

Inherits from:

Members

Public functions

Function GtBaseEvaluator

simulation_framework::evaluator::GtBaseEvaluator::GtBaseEvaluator()

Return type:

Function ~GtBaseEvaluator

virtual simulation_framework::evaluator::GtBaseEvaluator::~GtBaseEvaluator()=default

Return type:

Function Init

void simulation_framework::evaluator::GtBaseEvaluator::Init()

Initial all KPIs (call all kpi->Init();) which are added in this evaluator

Return type: void

Reimplements: Init

Function Reset

void simulation_framework::evaluator::GtBaseEvaluator::Reset()

Clear KpiMessage and reset all KPIs (call all kpi->Reset();) which are added in this evaluator

Return type: void

Reimplements: Reset

Function Evaluate

void simulation_framework::evaluator::GtBaseEvaluator::Evaluate()

Calculate all KPIs (call all kpi->CalculateKpi(gt);) which are added in this evaluator and fill the KpiMessage

Return type: void

Reimplements: Evaluate

Function AddKpi

void simulation_framework::evaluator::GtBaseEvaluator::AddKpi(std::unique_ptr< core::kpi::IKpi< osi3::GroundTruth > > kpi) override

Add one KPI into this evaluator

Parameters:

  • kpi: The iKpi interface

Parameters:

Return type: void

Function GetKpiMessage

core::kpi::KpiMessage simulation_framework::evaluator::GtBaseEvaluator::GetKpiMessage() const

Get the filled KPI messages based on calculation of all KPIs

Returns:

A kpi::KpiMessage object, the vector of KpiContent represents of all added KPIs into this evaluator

Return type: core::kpi::KpiMessage

Reimplements: GetKpiMessage

Function SetInput

void simulation_framework::evaluator::GtBaseEvaluator::SetInput(const osi3::GroundTruth &ground_truth)

Set GroundTruth message for KPI calculations

Parameters:

  • ground_truth: The osi groundtruth type in protobuf

Parameters:

  • const osi3::GroundTruth & ground_truth

Return type: void

Reimplements: SetInput

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