apollo::drivers::lidar::LidarDriverFactory类 参考

#include <lidar_driver_factory.h>

类 apollo::drivers::lidar::LidarDriverFactory 继承关系图:

apollo::drivers::lidar::LidarDriverFactory 的协作图:

Public 成员函数
	LidarDriverFactory (const apollo::drivers::lidar::config &config)
void	RegisterLidarClients ()
	Register the lidar driver of all brands.
std::unique_ptr< LidarDriver >	CreateLidarDriver (const std::shared_ptr<::apollo::cyber::Node > &node, const apollo::drivers::lidar::config &parameter)
	Create a pointer to a specified brand of lidar.
Public 成员函数 继承自 apollo::common::util::Factory< LidarParameter::LidarBrand, LidarDriver, LidarDriver *(*)(const std::shared_ptr<::apollo::cyber::Node > &node, const apollo::drivers::lidar::config &config)>
bool	Register (const LidarParameter::LidarBrand &id, LidarDriver * creator)
	Registers the class given by the creator function, linking it to id.
bool	Contains (const LidarParameter::LidarBrand &id)
bool	Unregister (const LidarParameter::LidarBrand &id)
	Unregisters the class with the given identifier
void	Clear ()
bool	Empty () const
std::unique_ptr< LidarDriver >	CreateObjectOrNull (const LidarParameter::LidarBrand &id, Args &&... args)
	Creates and transfers membership of an object of type matching id.
std::unique_ptr< LidarDriver >	CreateObject (const LidarParameter::LidarBrand &id, Args &&... args)
	Creates and transfers membership of an object of type matching id.

详细描述

在文件 lidar_driver_factory.h 第 45 行定义.

构造及析构函数说明

LidarDriverFactory()

apollo::drivers::lidar::LidarDriverFactory::LidarDriverFactory

(

const apollo::drivers::lidar::config &

config

)

在文件 lidar_driver_factory.cc 第 27 行定义.

{}

成员函数说明

CreateLidarDriver()

std::unique_ptr< LidarDriver > apollo::drivers::lidar::LidarDriverFactory::CreateLidarDriver	(	const std::shared_ptr<::apollo::cyber::Node > &	node,
		const apollo::drivers::lidar::config &	parameter
	)

Create a pointer to a specified brand of lidar.

The brand is set in the parameter.

参数

parameter

The parameter to create the CAN client.

返回

A pointer to the created CAN client.

在文件 lidar_driver_factory.cc 第 50 行定义.

                                               {
  auto factory = CreateObject(parameter.brand(), node, parameter);
  if (!factory) {
    AERROR << "Failed to create lidar with parameter: "
           << parameter.DebugString();
  }
  return factory;
}

RegisterLidarClients()

void apollo::drivers::lidar::LidarDriverFactory::RegisterLidarClients

(

)

Register the lidar driver of all brands.

This function call the Function apollo::common::util::Factory::Register() for all of the lidar.

在文件 lidar_driver_factory.cc 第 30 行定义.

                                              {
//  Register(LidarParameter::HESAI,
//           [](const std::shared_ptr<::apollo::cyber::Node>& node,
//              const apollo::drivers::lidar::config& config) -> LidarDriver* {
//             return new hesai::HesaiDriver(node, config);
//           });
  //  Register(LidarParameter::ROBOSENSE,
  //           [](const std::shared_ptr<::apollo::cyber::Node>& node,
  //              const apollo::drivers::lidar::config& config) -> LidarDriver*
  //              {
  //             return new robosense::RobosenseDriver(node, config);
  //           });
  //
  Register(LidarParameter::VELODYNE,
           [](const std::shared_ptr<::apollo::cyber::Node>& node,
              const apollo::drivers::lidar::config& config) -> LidarDriver* {
             return velodyne::VelodyneDriverFactory::CreateDriver(
                 node, config.velodyne());
           });
}

---

该类的文档由以下文件生成:

• modules/drivers/lidar/common/driver_factory/lidar_driver_factory.h
• modules/drivers/lidar/common/driver_factory/lidar_driver_factory.cc