apollo::drivers::lidar::LidarComponentBase< ScanType > 模板类 参考

#include <lidar_component_base.h>

类 apollo::drivers::lidar::LidarComponentBase< ScanType > 继承关系图:

apollo::drivers::lidar::LidarComponentBase< ScanType > 的协作图:

Public 类型
using	BaseComponent = LidarComponentBaseImpl< ScanType >
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Public 成员函数
virtual	~LidarComponentBase ()=default
virtual bool	Init ()=0
virtual void	ReadScanCallback (const std::shared_ptr< ScanType > &scan_message)=0
bool	InitBase (const LidarConfigBase &lidar_config_base) override
bool	WriteScan (const std::shared_ptr< ScanType > &scan_message)
std::shared_ptr< PointCloud >	AllocatePointCloud ()
bool	WritePointCloud (const std::shared_ptr< PointCloud > &point_cloud)
Public 成员函数 继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
virtual	~LidarComponentBaseImpl ()=default
std::shared_ptr< ScanType >	AcquireScanMessage ()
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
Protected 成员函数 继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
bool	InitConverter (const LidarConfigBase &lidar_config_base)
bool	InitPacket (const LidarConfigBase &lidar_config_base)
virtual std::shared_ptr< apollo::cyber::base::ArenaQueue< PointXYZIT > >	GetPointQueue ()
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)
静态 Protected 成员函数 继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
static void	PcdDefaultCleaner (std::shared_ptr< PointCloud > &unused_pcd_frame)
Protected 属性 继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
std::string	frame_id_
bool	write_scan_
uint32_t	default_reserved_points_num_
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

template<typename ScanType>
class apollo::drivers::lidar::LidarComponentBase< ScanType >

在文件 lidar_component_base.h 第 27 行定义.

成员类型定义说明

BaseComponent

template<typename ScanType >

using apollo::drivers::lidar::LidarComponentBase< ScanType >::BaseComponent = LidarComponentBaseImpl<ScanType>

在文件 lidar_component_base.h 第 29 行定义.

构造及析构函数说明

~LidarComponentBase()

template<typename ScanType >

virtual apollo::drivers::lidar::LidarComponentBase< ScanType >::~LidarComponentBase ( )

virtualdefault

成员函数说明

AllocatePointCloud()

template<typename ScanType >

std::shared_ptr< PointCloud > apollo::drivers::lidar::LidarComponentBase< ScanType >::AllocatePointCloud ( )

inlinevirtual

重载 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType > .

在文件 lidar_component_base.h 第 48 行定义.

                                                 {
    return BaseComponent::AllocatePointCloud();
  }

Init()

template<typename ScanType >

virtual bool apollo::drivers::lidar::LidarComponentBase< ScanType >::Init ( )

pure virtual

实现了 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >.

在 apollo::drivers::lidar::HesaiComponent2, apollo::drivers::lidar::LivoxLidarComponent, apollo::drivers::lslidar::LslidarComponent, apollo::drivers::lidar::RslidarComponent , 以及 apollo::drivers::lidar::VanjeelidarComponent 内被实现.

InitBase()

template<typename ScanType >

bool apollo::drivers::lidar::LidarComponentBase< ScanType >::InitBase ( const LidarConfigBase &  lidar_config_base )

inlineoverridevirtual

实现了 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >.

在文件 lidar_component_base.h 第 38 行定义.

                                                                   {
    RETURN_VAL_IF(!this->InitPacket(lidar_config_base), false);
    RETURN_VAL_IF(!this->InitConverter(lidar_config_base), false);
    return true;
  }

ReadScanCallback()

template<typename ScanType >

virtual void apollo::drivers::lidar::LidarComponentBase< ScanType >::ReadScanCallback ( const std::shared_ptr< ScanType > &  scan_message )

pure virtual

实现了 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >.

在 apollo::drivers::lidar::HesaiComponent2, apollo::drivers::lidar::LivoxLidarComponent, apollo::drivers::lidar::RslidarComponent , 以及 apollo::drivers::lidar::VanjeelidarComponent 内被实现.

WritePointCloud()

template<typename ScanType >

bool apollo::drivers::lidar::LidarComponentBase< ScanType >::WritePointCloud ( const std::shared_ptr< PointCloud > &  point_cloud )

inlinevirtual

重载 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType > .

在文件 lidar_component_base.h 第 52 行定义.

                                                                     {
    return BaseComponent::WritePointCloud(point_cloud);
  }

WriteScan()

template<typename ScanType >

bool apollo::drivers::lidar::LidarComponentBase< ScanType >::WriteScan ( const std::shared_ptr< ScanType > &  scan_message )

inlinevirtual

重载 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType > .

在文件 lidar_component_base.h 第 44 行定义.

                                                              {
    return BaseComponent::WriteScan(scan_message);
  }

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该类的文档由以下文件生成:

• modules/drivers/lidar/common/lidar_component_base.h