#include <rslidar_component.h>

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

apollo::drivers::lidar::RslidarComponent 的协作图:

Public 成员函数
bool	Init () override

void	ReadScanCallback (const std::shared_ptr< robosense::RobosenseScanPacket > &scan_message) override

void	RsPacketCallback (const ::robosense::lidar::Packet &lidar_packet)

std::shared_ptr< PointCloudMsg >	RsCloudAllocateCallback ()

void	RsCloudPutCallback (std::shared_ptr< PointCloudMsg > rs_cloud)

void	PreparePointsMsg (PointCloud &msg)

void	ProcessCloud ()

Public 成员函数继承自 apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket >
virtual	~LidarComponentBase ()=default

bool	InitBase (const LidarConfigBase &lidar_config_base) override

bool	WriteScan (const std::shared_ptr< robosense::RobosenseScanPacket > &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

virtual void	ReadScanCallback (const std::shared_ptr< ScanType > &scan_message)=0

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
Public 类型继承自 apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket >
using	BaseComponent = LidarComponentBaseImpl< robosense::RobosenseScanPacket >

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::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
bool	InitConverter (const LidarConfigBase &lidar_config_base)

bool	InitPacket (const LidarConfigBase &lidar_config_base)

virtual bool	WriteScan (const std::shared_ptr< ScanType > &scan_message)

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_

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 rslidar_component.h 第 41 行定义.

成员函数说明

◆ Init()

bool apollo::drivers::lidar::RslidarComponent::Init ( )

overridevirtual

实现了 apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket >.

◆ PreparePointsMsg()

void apollo::drivers::lidar::RslidarComponent::PreparePointsMsg ( PointCloud & msg )

◆ ProcessCloud()

void apollo::drivers::lidar::RslidarComponent::ProcessCloud ( )

◆ ReadScanCallback()

void apollo::drivers::lidar::RslidarComponent::ReadScanCallback ( const std::shared_ptr< robosense::RobosenseScanPacket > & scan_message )

overridevirtual

实现了 apollo::drivers::lidar::LidarComponentBase< robosense::RobosenseScanPacket >.

◆ RsCloudAllocateCallback()

std::shared_ptr< PointCloudMsg > apollo::drivers::lidar::RslidarComponent::RsCloudAllocateCallback ( )

◆ RsCloudPutCallback()

void apollo::drivers::lidar::RslidarComponent::RsCloudPutCallback ( std::shared_ptr< PointCloudMsg > rs_cloud )

◆ RsPacketCallback()

void apollo::drivers::lidar::RslidarComponent::RsPacketCallback ( const ::robosense::lidar::Packet & lidar_packet )

该类的文档由以下文件生成:

modules/drivers/lidar/rslidar/driver/rslidar_component.h

Public 成员函数

额外继承的成员函数