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 # File gt\_base\_evaluator.h

 Last update: 22.04.2026 

![](https://img.shields.io/badge/language-C%2B%2B-blue "C++")

**Location**: `autonomy/evaluator/gt_base_evaluator/gt_base_evaluator.h`

## Classes

- [simulation\_framework::evaluator::GtBaseEvaluator](classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator.md#classsimulation__framework_1_1evaluator_1_1GtBaseEvaluator)

## Namespaces

- [simulation\_framework](namespacesimulation__framework.md#namespacesimulation__framework)
- [evaluator](namespaceevaluator.md#namespaceevaluator)
- [simulation\_framework::evaluator](namespacesimulation__framework_1_1evaluator.md#namespacesimulation__framework_1_1evaluator)

## Includes

- [core/kpi/i\_evaluator/i\_evaluator.h](i__evaluator_8h.md#i__evaluator_8h)
- <osi\_groundtruth.pb.h>
- 

## Source

```cpp


#ifndef SIMFWK_AUTONOMY_AUTONOMY_EVALUATOR_GTBASEEVALUATOR_GTBASEEVALUATOR_H
#define SIMFWK_AUTONOMY_AUTONOMY_EVALUATOR_GTBASEEVALUATOR_GTBASEEVALUATOR_H

#include "core/kpi/i_evaluator/i_evaluator.h"
#include <osi_groundtruth.pb.h>
#include <vector>

namespace simulation_framework
{

namespace evaluator
{

class GtBaseEvaluator : public core::IEvaluator<osi3::GroundTruth>
{
  public:
    GtBaseEvaluator();
    virtual ~GtBaseEvaluator() = default;

    void Init();

    void Reset();

    void Evaluate();

    void AddKpi(std::unique_ptr<core::kpi::IKpi<osi3::GroundTruth>> kpi) override;

    core::kpi::KpiMessage GetKpiMessage() const;

    void SetInput(const osi3::GroundTruth& ground_truth);

  private:
    std::vector<std::unique_ptr<core::kpi::IKpi<osi3::GroundTruth>>> kpis_;

    osi3::GroundTruth ground_truth_;

    core::kpi::KpiMessage kpi_message_{};
};

}  // namespace evaluator
}  // namespace simulation_framework

#endif  // SIMFWK_AUTONOMY_AUTONOMY_EVALUATOR_GTBASEEVALUATOR_GTBASEEVALUATOR_H

```