#include <client_alignment.h>

类 apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE > 继承关系图:

apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE > 的协作图:

Public 成员函数
	Alignment ()

int	SyncStart ()

int	SyncStop ()

int	PeriodicCheck ()

int	GrpcStub (REQUEST_TYPE request, RESPONSE_TYPE response)

	Alignment (std::shared_ptr< JsonConf > sp_conf)

virtual	~Alignment ()

virtual ErrorCode	Process (const std::vector< FramePose > &poses)=0

virtual void	Reset ()=0

virtual double	GetProgress () const

virtual void	SetStartTime (double start_time)

virtual void	SetEndTime (double end_time)

virtual void	UpdateBadPoseInfo (const FramePose &pose)

virtual void	ClearBadPoseInfo ()

virtual void	UpdateGoodPoseInfo (const FramePose &pose)

virtual void	ClearGoodPoseInfo ()

virtual bool	IsGoodPose (const std::vector< FramePose > &poses, int pose_index)

ErrorCode	GetReturnState () const

Protected 成员函数
virtual grpc::Status	GrpcAlignmentStub (REQUEST_TYPE request, RESPONSE_TYPE response)=0

void	UpdatePoseInfo (const FramePose &pose, std::shared_ptr< BadOrGoodPoseInfo > sp_pose_info)

void	ClearPoseInfo (std::shared_ptr< BadOrGoodPoseInfo > sp_pose_info)

int	TimeToIndex (const std::vector< FramePose > &poses, double time)

Protected 属性
std::unique_ptr< CollectionCheckerService::Stub >	service_stub_

double	progress_

double	last_progress_

double	start_time_

double	end_time_

int	start_index_

double	end_index_

ErrorCode	return_state_

std::shared_ptr< JsonConf >	sp_conf_ = nullptr

std::shared_ptr< BadOrGoodPoseInfo >	sp_good_pose_info_ = nullptr

std::shared_ptr< BadOrGoodPoseInfo >	sp_bad_pose_info_ = nullptr

详细描述

template<typename REQUEST_TYPE, typename RESPONSE_TYPE>
class apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >

在文件 client_alignment.h 第 35 行定义.

构造及析构函数说明

◆ Alignment() [1/2]

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::Alignment ( )

inline

在文件 client_alignment.h 第 37 行定义.

              {
    YAML::Node node = YAML::LoadFile(FLAGS_client_conf_yaml);
    std::string server_addr =
        node["grpc_host_port"]["grpc_host"].as<std::string>() + ":" +
        node["grpc_host_port"]["grpc_port"].as<std::string>();
    check_period_ = node["alignment"]["check_period"].as<int>();
    service_stub_ = CollectionCheckerService::NewStub(
        grpc::CreateChannel(server_addr, grpc::InsecureChannelCredentials()));
  }

◆ Alignment() [2/2]

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::Alignment ( std::shared_ptr< JsonConf > sp_conf )

inlineexplicit

在文件 alignment.h 第 36 行定义.

      : return_state_(ErrorCode::SUCCESS),
        sp_conf_(sp_conf),
        sp_good_pose_info_(std::make_shared<BadOrGoodPoseInfo>()),
        sp_bad_pose_info_(std::make_shared<BadOrGoodPoseInfo>()) {}

◆ ~Alignment()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::~Alignment ( )

inlinevirtual

在文件 alignment.h 第 42 行定义.

42{}

成员函数说明

◆ ClearBadPoseInfo()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::ClearBadPoseInfo ( )

inlinevirtual

在文件 alignment.h 第 56 行定义.

56{ ClearPoseInfo(sp_bad_pose_info_); }

apollo::hdmap::Alignment::ClearPoseInfo

void ClearPoseInfo(std::shared_ptr< BadOrGoodPoseInfo > sp_pose_info)

Definition alignment.h:108

◆ ClearGoodPoseInfo()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::ClearGoodPoseInfo ( )

inlinevirtual

在文件 alignment.h 第 62 行定义.

62{ ClearPoseInfo(sp_good_pose_info_); }

◆ ClearPoseInfo()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::ClearPoseInfo ( std::shared_ptr< BadOrGoodPoseInfo > sp_pose_info )

inlineprotected

在文件 alignment.h 第 108 行定义.

                                                                    {
    if (sp_pose_info == nullptr) {
      AERROR << "sp_pose_info is nullptr";
      return;
    }
    BadOrGoodPoseInfo& pose_info = *sp_pose_info;
    pose_info.start_time = -1.0;
    pose_info.end_time = -1.0;
    pose_info.pose_count = 0;
  }

◆ GetProgress()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual double apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::GetProgress ( ) const

inlinevirtual

被 apollo::hdmap::EightRoute 重载.

在文件 alignment.h 第 46 行定义.

46{ return progress_; }

apollo::hdmap::Alignment::progress_

double progress_

Definition alignment.h:134

◆ GetReturnState()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

ErrorCode apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::GetReturnState ( ) const

inline

在文件 alignment.h 第 85 行定义.

85{ return return_state_; }

◆ GrpcAlignmentStub()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual grpc::Status apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::GrpcAlignmentStub	(	REQUEST_TYPE *	request,
		RESPONSE_TYPE *	response
	)

protectedpure virtual

◆ GrpcStub()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::GrpcStub	(	REQUEST_TYPE *	request,
		RESPONSE_TYPE *	response
	)

inline

在文件 client_alignment.h 第 89 行定义.

                                                               {
    grpc::Status status = GrpcAlignmentStub(request, response);
    if (status.error_code() == grpc::StatusCode::UNAVAILABLE) {
      AERROR << "FATAL Error. Map grpc service is UNAVAILABLE.";
      fprintf(USER_STREAM, "You should start server first\n");
      return -1;
    }
    AINFO << "response error code: " << response->code();
    if (response->code() != ErrorCode::SUCCESS) {
      return ExceptionHandler::ExceptionHandlerFun(response->code());
    }
    return 0;
  }

◆ IsGoodPose()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual bool apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::IsGoodPose	(	const std::vector< FramePose > &	poses,
		int	pose_index
	)

inlinevirtual

在文件 alignment.h 第 64 行定义.

                                                                             {
    if (pose_index <= 0 || pose_index >= static_cast<int>(poses.size())) {
      AINFO << "params error. poses size:" << poses.size()
            << ",pose_index:" << pose_index;
      return false;
    }
 
    unsigned int position_type = poses[pose_index].position_type;
    float diff_age = poses[pose_index].diff_age;
    double local_std = poses[pose_index].local_std;
 
    if (sp_conf_->position_type_range.find(position_type) !=
            sp_conf_->position_type_range.end() &&
        diff_age >= sp_conf_->diff_age_range.first &&
        diff_age <= sp_conf_->diff_age_range.second &&
        local_std <= sp_conf_->local_std_upper_limit) {
      return true;
    }
    return false;
  }

◆ PeriodicCheck()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::PeriodicCheck ( )

inline

在文件 client_alignment.h 第 61 行定义.

                      {
    int ret = 0;
    while (true) {
      double progress = 0.0;
      ret = Check(&progress);
      if (ret != 0) {
        AERROR << "alignment check failed";
        break;
      }
      AINFO << "alignment check progress: [" << progress << "]";
      fprintf(USER_STREAM, "alignment progress: %.2lf%%\n", progress * 100);
      if (fabs(progress - 1.0) < 1e-8) {
        AINFO << "diff " << fabs(progress - 1.0);
        break;
      }
      std::this_thread::sleep_for(std::chrono::seconds(check_period_));
    }
    if (ret != 0) {
      return -1;
    }
    ret = Stop();
    if (ret != 0) {
      AERROR << "alignment stop failed";
      return -1;
    }
    return 0;
  }

◆ Process()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual ErrorCode apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::Process ( const std::vector< FramePose > & poses )

pure virtual

在 apollo::hdmap::EightRoute , 以及 apollo::hdmap::StaticAlign 内被实现.

◆ Reset()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::Reset ( )

pure virtual

◆ SetEndTime()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::SetEndTime ( double end_time )

inlinevirtual

在文件 alignment.h 第 50 行定义.

50{ end_time_ = end_time; }

apollo::hdmap::Alignment::end_time_

double end_time_

Definition alignment.h:137

◆ SetStartTime()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::SetStartTime ( double start_time )

inlinevirtual

在文件 alignment.h 第 48 行定义.

48{ start_time_ = start_time; }

apollo::hdmap::Alignment::start_time_

double start_time_

Definition alignment.h:136

◆ SyncStart()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::SyncStart ( )

inline

在文件 client_alignment.h 第 47 行定义.

                  {
    int ret = Start();
    if (ret != 0) {
      AERROR << "start alignment failed";
      return -1;
    }
    return PeriodicCheck();
  }

◆ SyncStop()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::SyncStop ( )

inline

在文件 client_alignment.h 第 56 行定义.

                 {
    // stop server
    return Stop();
  }

◆ TimeToIndex()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::TimeToIndex	(	const std::vector< FramePose > &	poses,
		double	time
	)

inlineprotected

在文件 alignment.h 第 119 行定义.

                                                                  {
    size_t size = poses.size();
    if (size == 0 || time <= 0) {
      return -1;
    }
 
    for (size_t i = 0; i < size; ++i) {
      if (poses[i].time_stamp >= time) {
        return static_cast<int>(i);
      }
    }
    return static_cast<int>(size);
  }

◆ UpdateBadPoseInfo()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::UpdateBadPoseInfo ( const FramePose & pose )

inlinevirtual

在文件 alignment.h 第 52 行定义.

                                                        {
    UpdatePoseInfo(pose, sp_bad_pose_info_);
  }

◆ UpdateGoodPoseInfo()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

virtual void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::UpdateGoodPoseInfo ( const FramePose & pose )

inlinevirtual

在文件 alignment.h 第 58 行定义.

                                                         {
    UpdatePoseInfo(pose, sp_good_pose_info_);
  }

◆ UpdatePoseInfo()

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

void apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::UpdatePoseInfo	(	const FramePose &	pose,
		std::shared_ptr< BadOrGoodPoseInfo >	sp_pose_info
	)

inlineprotected

在文件 alignment.h 第 88 行定义.

                                                                     {
    if (sp_pose_info == nullptr) {
      AERROR << "sp_pose_info is nullptr";
      return;
    }
    BadOrGoodPoseInfo& pose_info = *sp_pose_info;
    if (pose_info.pose_count == 0) {
      pose_info.start_time = pose.time_stamp;
      ++pose_info.pose_count;
      AINFO << "update start time: " << pose_info.start_time
            << ",pose count: " << pose_info.pose_count;
    } else {
      pose_info.end_time = pose.time_stamp;
      ++pose_info.pose_count;
      AINFO << "update start time: " << pose_info.start_time
            << ",pose count: " << pose_info.pose_count;
    }
  }

类成员变量说明

◆ end_index_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

double apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::end_index_

protected

在文件 alignment.h 第 139 行定义.

◆ end_time_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

double apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::end_time_

protected

在文件 alignment.h 第 137 行定义.

◆ last_progress_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

double apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::last_progress_

protected

在文件 alignment.h 第 135 行定义.

◆ progress_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

double apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::progress_

protected

在文件 alignment.h 第 134 行定义.

◆ return_state_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

ErrorCode apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::return_state_

protected

在文件 alignment.h 第 140 行定义.

◆ service_stub_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

std::unique_ptr<CollectionCheckerService::Stub> apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::service_stub_

protected

在文件 client_alignment.h 第 137 行定义.

◆ sp_bad_pose_info_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

std::shared_ptr<BadOrGoodPoseInfo> apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::sp_bad_pose_info_ = nullptr

protected

在文件 alignment.h 第 144 行定义.

◆ sp_conf_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

std::shared_ptr<JsonConf> apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::sp_conf_ = nullptr

protected

在文件 alignment.h 第 141 行定义.

◆ sp_good_pose_info_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

std::shared_ptr<BadOrGoodPoseInfo> apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::sp_good_pose_info_ = nullptr

protected

在文件 alignment.h 第 143 行定义.

◆ start_index_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

int apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::start_index_

protected

在文件 alignment.h 第 138 行定义.

◆ start_time_

template<typename REQUEST_TYPE , typename RESPONSE_TYPE >

double apollo::hdmap::Alignment< REQUEST_TYPE, RESPONSE_TYPE >::start_time_

protected

在文件 alignment.h 第 136 行定义.

该类的文档由以下文件生成:

modules/map/tools/map_datachecker/client/client_alignment.h
modules/map/tools/map_datachecker/server/alignment.h

Public 成员函数

Protected 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ Alignment() [1/2]

◆ Alignment() [2/2]

◆ ~Alignment()

成员函数说明

◆ ClearBadPoseInfo()

◆ ClearGoodPoseInfo()

◆ ClearPoseInfo()

◆ GetProgress()

◆ GetReturnState()

◆ GrpcAlignmentStub()

◆ GrpcStub()

◆ IsGoodPose()

◆ PeriodicCheck()

◆ Process()

◆ Reset()

◆ SetEndTime()

◆ SetStartTime()

◆ SyncStart()

◆ SyncStop()

◆ TimeToIndex()

◆ UpdateBadPoseInfo()

◆ UpdateGoodPoseInfo()

◆ UpdatePoseInfo()

类成员变量说明

◆ end_index_

◆ end_time_

◆ last_progress_

◆ progress_

◆ return_state_

◆ service_stub_

◆ sp_bad_pose_info_

◆ sp_conf_

◆ sp_good_pose_info_

◆ start_index_

◆ start_time_