命名空间
namespace	base

namespace	benchmark

namespace	binary

namespace	blocker

namespace	class_loader

namespace	common

namespace	context

namespace	croutine

namespace	data

namespace	event

namespace	examples

namespace	io

namespace	logger

namespace	mainboard

namespace	message

namespace	plugin_manager

namespace	profiler

namespace	proto

namespace	record

namespace	scheduler

namespace	service_discovery

namespace	statistics

namespace	transport

类
class	ApolloRosConverter

class	ApolloRosMessageConverter

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	ApolloRosMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	BridgeArgument

struct	BridgeConf

class	Client
	Client get `Response` from a responding `Service` by sending a Request 更多...

class	ClientBase
	Base class of Client 更多...

class	Clock
	a singleton clock that can be used to get the current timestamp. 更多...

class	Component

class	Component< M0, M1, M2, NullType >

class	Component< M0, M1, NullType, NullType >

class	Component< M0, NullType, NullType, NullType >

class	Component< NullType, NullType, NullType, NullType >

class	ComponentBase

struct	ConverterConf

class	Duration

class	HeadingMsgFusion

class	ImuMsgConverter

struct	InputTypes

class	LidarPointcloud

class	LocalizationEstimate

class	MessageConverter

class	NavMsgConverter

class	Node
	Node is the fundamental building block of Cyber RT. 更多...

class	NodeChannelImpl
	The implementation for Node to create Objects connected by Channels. 更多...

class	NodeServiceImpl
	The implementation for Node to create Objects connected by Param. 更多...

class	NullType

class	OdometryMsgConverter

class	OdometryParser

struct	OutputTypes

class	Parameter
	A `Parameter` holds an apollo::cyber::proto::Param, It's more human-readable, you can use basic-value type and Protobuf values to construct a paramter. 更多...

class	ParameterClient
	Parameter Client is used to set/get/list parameter(s) by sending a request to ParameterServer 更多...

class	ParameterServer
	Parameter Service is a very important function of auto-driving. 更多...

struct	PluginDeclareInfo

class	PyChannelUtils

class	PyClient

class	PyDuration

class	PyNode

class	PyNodeUtils

class	PyParameter

class	PyParameterClient

class	PyParameterServer

class	PyRate

class	PyReader

class	PyService

class	PyServiceUtils

class	PyTime

class	PyTimer

class	PyWriter

class	Rate

class	Reader
	Reader subscribes a channel, it has two main functions: 更多...

class	ReaderBase
	Base Class for Reader Reader is identified by one apollo::cyber::proto::RoleAttribute, it contains the channel_name, channel_id that we subscribe, and host_name, process_id and node that we are located, and qos that describes our transportation quality. 更多...

struct	ReaderConfig

class	ReceiverManager
	One Channel is related to one Receiver. 更多...

class	RosApolloConverter

class	RosApolloMessageConverter

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 > > >

class	RosApolloMessageConverter< InputTypes< std::shared_ptr< InType0 >, std::shared_ptr< InType1 >, std::shared_ptr< InType2 >, std::shared_ptr< InType3 > >, OutputTypes< std::shared_ptr< OutType0 >, std::shared_ptr< OutType1 >, std::shared_ptr< OutType2 >, std::shared_ptr< OutType3 > > >

class	Service
	Service handles `Request` from the Client, and send a `Response` to it. 更多...

class	ServiceBase
	Base class for Service 更多...

class	SysMo

class	TaskManager

class	Time
	Cyber has builtin time type Time. 更多...

class	Timer
	Used to perform oneshot or periodic timing tasks 更多...

class	TimerBucket

class	TimerComponent

struct	TimerOption
	The options of timer 更多...

struct	TimerTask

class	TimingWheel

class	Writer

class	WriterBase
	Base class for a Writer. 更多...

类型定义
template<typename M0 >
using	CallbackFunc = std::function< void(const std::shared_ptr< M0 > &)>

using	PyMsgWrapPtr = std::shared_ptr< message::PyMessageWrap >

using	GlobalData = ::apollo::cyber::common::GlobalData

using	AtomicRWLock = ::apollo::cyber::base::AtomicRWLock

using	AtomicWriteLockGuard = ::apollo::cyber::base::WriteLockGuard< AtomicRWLock >

using	AtomicReadLockGuard = ::apollo::cyber::base::ReadLockGuard< AtomicRWLock >

枚举
enum	ReturnCode { SUCC = 0 , FAIL = 1 }

enum	Relation : std::uint8_t { NO_RELATION = 0 , DIFF_HOST , DIFF_PROC , SAME_PROC }
	Describe relation between nodes, writers/readers... 更多...

enum	State : std::uint8_t { STATE_UNINITIALIZED = 0 , STATE_INITIALIZED , STATE_SHUTTING_DOWN , STATE_SHUTDOWN }

函数
std::unique_ptr< Node >	CreateNode (const std::string &node_name, const std::string &name_space)

void	OnShutdown (int sig)

void	ExitHandle ()

bool	Init (const char *binary_name, const std::string &dag_info)

void	Clear ()

bool	py_init (const std::string &module_name)

bool	py_ok ()

void	py_shutdown ()

bool	py_is_shutdown ()

void	py_waitforshutdown ()

	DEFINE_string (bridge_conf_path, "ros_bridge/conf/ros_bridge_conf.pb.txt", "ros config file path")

	DECLARE_string (bridge_conf_path)

std::string	GetFullConverterClassName (const std::string &class_name)

void	QuaternionToEuler (const double quaternion[4], double att[3])

double	QuaternionToHeading (double yaw)

State	GetState ()

void	SetState (const State &state)

bool	OK ()

bool	IsShutdown ()

void	WaitForShutdown ()

void	AsyncShutdown ()

std::ostream &	operator<< (std::ostream &os, const Duration &rhs)

std::ostream &	operator<< (std::ostream &os, const Time &rhs)

变量
const uint32_t	DEFAULT_PENDING_QUEUE_SIZE = 1

constexpr auto	SERVICE_NAME_DELIMITER = "/"

constexpr auto	GET_PARAMETER_SERVICE_NAME = "get_parameter"

constexpr auto	SET_PARAMETER_SERVICE_NAME = "set_parameter"

constexpr auto	LIST_PARAMETERS_SERVICE_NAME = "list_parameters"

const char	RAWDATATYPE [] = "RawData"

类型定义说明

◆ AtomicReadLockGuard

using apollo::cyber::AtomicReadLockGuard = typedef ::apollo::cyber::base::ReadLockGuard<AtomicRWLock>

在文件 clock.cc 第 31 行定义.

◆ AtomicRWLock

using apollo::cyber::AtomicRWLock = typedef ::apollo::cyber::base::AtomicRWLock

在文件 clock.cc 第 28 行定义.

◆ AtomicWriteLockGuard

using apollo::cyber::AtomicWriteLockGuard = typedef ::apollo::cyber::base::WriteLockGuard<AtomicRWLock>

在文件 clock.cc 第 29 行定义.

◆ CallbackFunc

template<typename M0 >

using apollo::cyber::CallbackFunc = typedef std::function<void(const std::shared_ptr<M0>&)>

在文件 reader.h 第 46 行定义.

◆ GlobalData

using apollo::cyber::GlobalData = typedef ::apollo::cyber::common::GlobalData

在文件 clock.cc 第 26 行定义.

◆ PyMsgWrapPtr

using apollo::cyber::PyMsgWrapPtr = typedef std::shared_ptr<message::PyMessageWrap>

在文件 py_cyber.h 第 187 行定义.

枚举类型说明

◆ Relation

enum apollo::cyber::Relation : std::uint8_t

Describe relation between nodes, writers/readers...

枚举值
NO_RELATION
DIFF_HOST
DIFF_PROC
SAME_PROC

在文件 types.h 第 36 行定义.

              : std::uint8_t {
  NO_RELATION = 0,
  DIFF_HOST,  // different host
  DIFF_PROC,  // same host, but different process
  SAME_PROC,  // same process
};

◆ ReturnCode

enum apollo::cyber::ReturnCode

枚举值
SUCC
FAIL

在文件 types.h 第 28 行定义.

                {
  SUCC = 0,
  FAIL = 1,
};

◆ State

enum apollo::cyber::State : std::uint8_t

枚举值
STATE_UNINITIALIZED
STATE_INITIALIZED
STATE_SHUTTING_DOWN
STATE_SHUTDOWN

在文件 state.h 第 34 行定义.

           : std::uint8_t {
  STATE_UNINITIALIZED = 0,
  STATE_INITIALIZED,
  STATE_SHUTTING_DOWN,
  STATE_SHUTDOWN,
};

函数说明

◆ AsyncShutdown()

void apollo::cyber::AsyncShutdown ( )

inline

在文件 state.h 第 56 行定义.

                            {
  pid_t pid = getpid();
  if (kill(pid, SIGINT) != 0) {
    AERROR << strerror(errno);
  }
}

◆ Clear()

void apollo::cyber::Clear ( )

在文件 init.cc 第 161 行定义.

             {
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() == STATE_SHUTDOWN || GetState() == STATE_UNINITIALIZED) {
    return;
  }
  SysMo::CleanUp();
  TaskManager::CleanUp();
  TimingWheel::CleanUp();
  scheduler::CleanUp();
  service_discovery::TopologyManager::CleanUp();
  transport::Transport::CleanUp();
  StopLogger();
  SetState(STATE_SHUTDOWN);
}

◆ CreateNode()

std::unique_ptr< Node > apollo::cyber::CreateNode	(	const std::string &	node_name,
		const std::string &	name_space
	)

在文件 cyber.cc 第 33 行定义.

                                                              {
  bool is_reality_mode = GlobalData::Instance()->IsRealityMode();
  if (is_reality_mode && !OK()) {
    // add some hint log
    AERROR << "please initialize cyber firstly.";
    return nullptr;
  }
  return std::unique_ptr<Node>(new Node(node_name, name_space));
}

◆ DECLARE_string()

apollo::cyber::DECLARE_string ( bridge_conf_path )

◆ DEFINE_string()

apollo::cyber::DEFINE_string	(	bridge_conf_path	,
		"ros_bridge/conf/ros_bridge_conf.pb.txt"	,
		"ros config file path"
	)

◆ ExitHandle()

void apollo::cyber::ExitHandle ( )

在文件 init.cc 第 96 行定义.

96{ Clear(); }

apollo::cyber::Clear

void Clear()

Definition init.cc:161

◆ GetFullConverterClassName()

std::string apollo::cyber::GetFullConverterClassName ( const std::string & class_name )

在文件 utils.h 第 24 行定义.

                                                                 {
  static const std::string kNameSpace = "apollo::cyber::";
  // If the class name already has namespace in it, do nothing.
  if (class_name.find("::") != std::string::npos) {
    return class_name;
  }
  return kNameSpace + class_name;
}

◆ GetState()

State apollo::cyber::GetState ( )

在文件 state.cc 第 28 行定义.

28{ return g_cyber_state.load(); }

◆ Init()

bool apollo::cyber::Init	(	const char *	binary_name,
		const std::string &	dag_info
	)

在文件 init.cc 第 98 行定义.

                                                              {
  const char* apollo_runtime_path = std::getenv("APOLLO_RUNTIME_PATH");
  if (apollo_runtime_path != nullptr) {
    if (std::filesystem::is_directory(
            std::filesystem::status(apollo_runtime_path))) {
      std::filesystem::current_path(apollo_runtime_path);
    }
  }
 
  std::lock_guard<std::mutex> lg(g_mutex);
  if (GetState() != STATE_UNINITIALIZED) {
    return false;
  }
 
  InitLogger(binary_name);
  auto thread = const_cast<std::thread*>(async_logger->LogThread());
  scheduler::Instance()->SetInnerThreadAttr("async_log", thread);
  SysMo::Instance();
  std::signal(SIGINT, OnShutdown);
  // Register exit handlers
  if (!g_atexit_registered) {
    if (std::atexit(ExitHandle) != 0) {
      AERROR << "Register exit handle failed";
      return false;
    }
    AINFO << "Register exit handle succ.";
    g_atexit_registered = true;
  }
  SetState(STATE_INITIALIZED);
 
  auto global_data = GlobalData::Instance();
  if (global_data->IsMockTimeMode()) {
    auto node_name = kClockNode + std::to_string(getpid());
    clock_node = std::unique_ptr<Node>(new Node(node_name));
    auto cb =
        [](const std::shared_ptr<const apollo::cyber::proto::Clock>& msg) {
          if (msg->has_clock()) {
            Clock::Instance()->SetNow(Time(msg->clock()));
          }
        };
    clock_node->CreateReader<apollo::cyber::proto::Clock>(kClockChannel, cb);
  }
 
  if (dag_info != "") {
    std::string dump_path;
    if (dag_info.length() > 200) {
      std::string truncated = dag_info.substr(0, 200);
      dump_path = common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" +
                  truncated;
    } else {
      dump_path = common::GetEnv("APOLLO_ENV_WORKROOT", "/apollo") + "/dumps/" +
                  dag_info;
    }
    google::SetCommandLineOption("bvar_dump_file", dump_path.c_str());
  } else {
    statistics::Statistics::Instance()->DisableChanVar();
  }
  google::SetCommandLineOption("bvar_dump_exclude", "*qps");
  google::SetCommandLineOption("bvar_dump", "true");
 
  return true;
}

◆ IsShutdown()

bool apollo::cyber::IsShutdown ( )

inline

在文件 state.h 第 46 行定义.

                         {
  return GetState() == STATE_SHUTTING_DOWN || GetState() == STATE_SHUTDOWN;
}

◆ OK()

bool apollo::cyber::OK ( )

inline

在文件 state.h 第 44 行定义.

44{ return GetState() == STATE_INITIALIZED; }

◆ OnShutdown()

void apollo::cyber::OnShutdown ( int sig )

在文件 init.cc 第 89 行定义.

                         {
  (void)sig;
  if (GetState() != STATE_SHUTDOWN) {
    SetState(STATE_SHUTTING_DOWN);
  }
}

◆ operator<<() [1/2]

std::ostream & apollo::cyber::operator<<	(	std::ostream &	os,
		const Duration &	rhs
	)

在文件 duration.cc 第 114 行定义.

                                                            {
  std::ios::fmtflags before(os.flags());
  os << std::fixed << std::setprecision(9) << rhs.ToSecond() << "s";
  os.flags(before);
  return os;
}

◆ operator<<() [2/2]

std::ostream & apollo::cyber::operator<<	(	std::ostream &	os,
		const Time &	rhs
	)

在文件 time.cc 第 164 行定义.

                                                        {
  os << rhs.ToString();
  return os;
}

◆ py_init()

bool apollo::cyber::py_init ( const std::string & module_name )

inline

在文件 py_cyber.h 第 47 行定义.

                                                  {
  static bool inited = false;
  if (inited) {
    AINFO << "cyber already inited.";
    return true;
  }
 
  if (!Init(module_name.c_str())) {
    AERROR << "cyber::Init failed:" << module_name;
    return false;
  }
  inited = true;
  AINFO << "cyber init succ.";
  return true;
}

◆ py_is_shutdown()

bool apollo::cyber::py_is_shutdown ( )

inline

在文件 py_cyber.h 第 67 行定义.

67{ return IsShutdown(); }

apollo::cyber::IsShutdown

bool IsShutdown()

Definition state.h:46

◆ py_ok()

bool apollo::cyber::py_ok ( )

inline

在文件 py_cyber.h 第 63 行定义.

63{ return OK(); }

◆ py_shutdown()

void apollo::cyber::py_shutdown ( )

inline

在文件 py_cyber.h 第 65 行定义.

65{ return Clear(); }

◆ py_waitforshutdown()

void apollo::cyber::py_waitforshutdown ( )

inline

在文件 py_cyber.h 第 69 行定义.

69{ return WaitForShutdown(); }

apollo::cyber::WaitForShutdown

void WaitForShutdown()

Definition state.h:50

◆ QuaternionToEuler()

void apollo::cyber::QuaternionToEuler	(	const double	quaternion[4],
		double	att[3]
	)

inline

在文件 quaternion_math.h 第 22 行定义.

                                                                         {
  double dcm21 =
      2 * (quaternion[2] * quaternion[3] + quaternion[0] * quaternion[1]);
  double dcm20 =
      2 * (quaternion[1] * quaternion[3] - quaternion[0] * quaternion[2]);
  double dcm22 = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] -
                 quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3];
  double dcm01 =
      2 * (quaternion[1] * quaternion[2] - quaternion[0] * quaternion[3]);
  double dcm11 = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] +
                 quaternion[2] * quaternion[2] - quaternion[3] * quaternion[3];
 
  att[0] = std::asin(dcm21);           // the angle rotate respect to X
  att[1] = std::atan2(-dcm20, dcm22);  // the angle rotate respect to Y
  att[2] = std::atan2(dcm01, dcm11);   // the angle rotate respect to Z
 
  return;
}

◆ QuaternionToHeading()

double apollo::cyber::QuaternionToHeading ( double yaw )

inline

在文件 quaternion_math.h 第 41 行定义.

                                              {
  double a = std::fmod(yaw + M_PI_2 + M_PI, 2.0 * M_PI);
  if (a < 0.0) {
    a += (2.0 * M_PI);
  }
  return a - M_PI;
}

◆ SetState()

void apollo::cyber::SetState ( const State & state )

在文件 state.cc 第 30 行定义.

30{ g_cyber_state.store(state); }

◆ WaitForShutdown()

void apollo::cyber::WaitForShutdown ( )

inline

在文件 state.h 第 50 行定义.

                              {
  while (!IsShutdown()) {
    std::this_thread::sleep_for(std::chrono::milliseconds(200));
  }
}

变量说明

◆ DEFAULT_PENDING_QUEUE_SIZE

const uint32_t apollo::cyber::DEFAULT_PENDING_QUEUE_SIZE = 1

在文件 reader.h 第 50 行定义.

◆ GET_PARAMETER_SERVICE_NAME

constexpr auto apollo::cyber::GET_PARAMETER_SERVICE_NAME = "get_parameter"

constexpr

在文件 parameter_service_names.h 第 26 行定义.

◆ LIST_PARAMETERS_SERVICE_NAME

constexpr auto apollo::cyber::LIST_PARAMETERS_SERVICE_NAME = "list_parameters"

constexpr

在文件 parameter_service_names.h 第 28 行定义.

◆ RAWDATATYPE

const char apollo::cyber::RAWDATATYPE[] = "RawData"

在文件 py_cyber.h 第 109 行定义.

◆ SERVICE_NAME_DELIMITER

constexpr auto apollo::cyber::SERVICE_NAME_DELIMITER = "/"

constexpr

在文件 parameter_service_names.h 第 25 行定义.

◆ SET_PARAMETER_SERVICE_NAME

constexpr auto apollo::cyber::SET_PARAMETER_SERVICE_NAME = "set_parameter"

constexpr

在文件 parameter_service_names.h 第 27 行定义.

命名空间

类

类型定义

枚举

函数

变量

类型定义说明

◆ AtomicReadLockGuard

◆ AtomicRWLock

◆ AtomicWriteLockGuard

◆ CallbackFunc

◆ GlobalData

◆ PyMsgWrapPtr

枚举类型说明

◆ Relation

◆ ReturnCode

◆ State

函数说明

◆ AsyncShutdown()

◆ Clear()

◆ CreateNode()

◆ DECLARE_string()

◆ DEFINE_string()

◆ ExitHandle()

◆ GetFullConverterClassName()

◆ GetState()

◆ Init()

◆ IsShutdown()

◆ OK()

◆ OnShutdown()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ py_init()

◆ py_is_shutdown()

◆ py_ok()

◆ py_shutdown()

◆ py_waitforshutdown()

◆ QuaternionToEuler()

◆ QuaternionToHeading()

◆ SetState()

◆ WaitForShutdown()

变量说明

◆ DEFAULT_PENDING_QUEUE_SIZE

◆ GET_PARAMETER_SERVICE_NAME

◆ LIST_PARAMETERS_SERVICE_NAME

◆ RAWDATATYPE

◆ SERVICE_NAME_DELIMITER

◆ SET_PARAMETER_SERVICE_NAME