#include <compensator_component.h>

类 apollo::drivers::compensator::CompensatorComponent 继承关系图:

apollo::drivers::compensator::CompensatorComponent 的协作图:

Public 成员函数
bool	Init () override

bool	Proc (const std::shared_ptr< PointCloud > &point_cloud) override

Public 成员函数继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)

Public 成员函数继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &config)

virtual void	Shutdown ()

template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Protected 成员函数继承自 apollo::cyber::ComponentBase
virtual void	Clear ()

const std::string &	ConfigFilePath () const

void	LoadConfigFiles (const ComponentConfig &config)

void	LoadConfigFiles (const TimerComponentConfig &config)

Protected 属性继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}

std::shared_ptr< Node >	node_ = nullptr

std::string	config_file_path_ = ""

std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 compensator_component.h 第 36 行定义.

成员函数说明

◆ Init()

bool apollo::drivers::compensator::CompensatorComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 compensator_component.cc 第 32 行定义.

                                {
  CompensatorConfig config;
  if (!GetProtoConfig(&config)) {
    AWARN << "Load config failed, config file" << ConfigFilePath();
    return false;
  }
 
  writer_ = node_->CreateWriter<PointCloud>(config.output_channel());
  compensator_.reset(new Compensator(config));
  return true;
}

◆ Proc()

bool apollo::drivers::compensator::CompensatorComponent::Proc ( const std::shared_ptr< PointCloud > & point_cloud )

override

在文件 compensator_component.cc 第 44 行定义.

                                                  {
  const auto start_time = Time::Now();
  std::shared_ptr<PointCloud> point_cloud_compensated =
      writer_->AcquireMessage();
  if (point_cloud_compensated == nullptr) {
    AWARN << "compensator fail to getobject, will be new";
    point_cloud_compensated = std::make_shared<PointCloud>();
    point_cloud_compensated->mutable_point()->Reserve(140000);
  }
  if (point_cloud_compensated == nullptr) {
    AWARN << "compensator point_cloud is nullptr";
    return false;
  }
  point_cloud_compensated->Clear();
  if (compensator_->MotionCompensation(point_cloud, point_cloud_compensated)) {
    const auto end_time = Time::Now();
    const auto diff = end_time - start_time;
    const auto meta_diff =
        end_time - Time(point_cloud_compensated->header().lidar_timestamp());
    AINFO << "compenstator diff (ms):" << (diff.ToNanosecond() / 1e6)
          << ";meta (ns):"
          << point_cloud_compensated->header().lidar_timestamp()
          << ";meta diff (ms): " << (meta_diff.ToNanosecond() / 1e6);
    static common::LatencyRecorder latency_recorder(FLAGS_pointcloud_topic);
    latency_recorder.AppendLatencyRecord(
        point_cloud_compensated->header().lidar_timestamp(), start_time,
        end_time);
 
    point_cloud_compensated->mutable_header()->set_sequence_num(seq_);
    writer_->Write(point_cloud_compensated);
    seq_++;
  }
 
  return true;
}

该类的文档由以下文件生成:

modules/drivers/lidar/compensator/compensator_component.h
modules/drivers/lidar/compensator/compensator_component.cc

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ Init()

◆ Proc()