High-precision map loader interface. 更多...

#include <hdmap.h>

apollo::hdmap::HDMap 的协作图:

Public 成员函数
int	LoadMapFromFile (const std::string &map_filename)
	load map from local file

int	LoadMapFromProto (const Map &map_proto)
	load map from a given protobuf message.

LaneInfoConstPtr	GetLaneById (const Id &id) const

JunctionInfoConstPtr	GetJunctionById (const Id &id) const

SignalInfoConstPtr	GetSignalById (const Id &id) const

CrosswalkInfoConstPtr	GetCrosswalkById (const Id &id) const

StopSignInfoConstPtr	GetStopSignById (const Id &id) const

YieldSignInfoConstPtr	GetYieldSignById (const Id &id) const

ClearAreaInfoConstPtr	GetClearAreaById (const Id &id) const

SpeedBumpInfoConstPtr	GetSpeedBumpById (const Id &id) const

OverlapInfoConstPtr	GetOverlapById (const Id &id) const

RoadInfoConstPtr	GetRoadById (const Id &id) const

ParkingSpaceInfoConstPtr	GetParkingSpaceById (const Id &id) const

PNCJunctionInfoConstPtr	GetPNCJunctionById (const Id &id) const

RSUInfoConstPtr	GetRSUById (const Id &id) const

AreaInfoConstPtr	GetAreaById (const Id &id) const

BarrierGateInfoConstPtr	GetBarrierGateById (const Id &id) const

int	GetAreas (const apollo::common::PointENU &point, double distance, std::vector< AreaInfoConstPtr > *areas) const
	get all areas in certain range

int	GetLanes (const apollo::common::PointENU &point, double distance, std::vector< LaneInfoConstPtr > *lanes) const
	get all lanes in certain range

int	GetJunctions (const apollo::common::PointENU &point, double distance, std::vector< JunctionInfoConstPtr > *junctions) const
	get all junctions in certain range

int	GetSignals (const apollo::common::PointENU &point, double distance, std::vector< SignalInfoConstPtr > *signals) const
	get all signals in certain range

int	GetBarrierGates (const apollo::common::PointENU &point, double distance, std::vector< BarrierGateInfoConstPtr > *barrier_gates) const
	get all barrier_gates in certain range

int	GetCrosswalks (const apollo::common::PointENU &point, double distance, std::vector< CrosswalkInfoConstPtr > *crosswalks) const
	get all crosswalks in certain range

int	GetStopSigns (const apollo::common::PointENU &point, double distance, std::vector< StopSignInfoConstPtr > *stop_signs) const
	get all stop signs in certain range

int	GetYieldSigns (const apollo::common::PointENU &point, double distance, std::vector< YieldSignInfoConstPtr > *yield_signs) const
	get all yield signs in certain range

int	GetClearAreas (const apollo::common::PointENU &point, double distance, std::vector< ClearAreaInfoConstPtr > *clear_areas) const
	get all clear areas in certain range

int	GetSpeedBumps (const apollo::common::PointENU &point, double distance, std::vector< SpeedBumpInfoConstPtr > *speed_bumps) const
	get all speed bumps in certain range

int	GetRoads (const apollo::common::PointENU &point, double distance, std::vector< RoadInfoConstPtr > *roads) const
	get all roads in certain range

int	GetParkingSpaces (const apollo::common::PointENU &point, double distance, std::vector< ParkingSpaceInfoConstPtr > *parking_spaces) const
	get all parking spaces in certain range

int	GetPNCJunctions (const apollo::common::PointENU &point, double distance, std::vector< PNCJunctionInfoConstPtr > *pnc_junctions) const
	get all pnc junctions in certain range

int	GetNearestLaneWithDistance (const apollo::common::PointENU &point, const double distance, LaneInfoConstPtr nearest_lane, double nearest_s, double *nearest_l) const
	get nearest lane from target point with search radius,

int	GetNearestLane (const apollo::common::PointENU &point, LaneInfoConstPtr nearest_lane, double nearest_s, double *nearest_l) const
	get nearest lane from target point,

int	GetNearestLaneWithHeading (const apollo::common::PointENU &point, const double distance, const double central_heading, const double max_heading_difference, LaneInfoConstPtr nearest_lane, double nearest_s, double *nearest_l) const
	get the nearest lane within a certain range by pose

int	GetLanesWithHeading (const apollo::common::PointENU &point, const double distance, const double central_heading, const double max_heading_difference, std::vector< LaneInfoConstPtr > *lanes) const
	get all lanes within a certain range by pose

int	GetRoadBoundaries (const apollo::common::PointENU &point, double radius, std::vector< RoadROIBoundaryPtr > road_boundaries, std::vector< JunctionBoundaryPtr > junctions) const
	get all road and junctions boundaries within certain range

int	GetRoadBoundaries (const apollo::common::PointENU &point, double radius, std::vector< RoadRoiPtr > road_boundaries, std::vector< JunctionInfoConstPtr > junctions) const
	get all road boundaries and junctions within certain range

int	GetRoi (const apollo::common::PointENU &point, double radius, std::vector< RoadRoiPtr > roads_roi, std::vector< PolygonRoiPtr > polygons_roi)
	get ROI within certain range

int	GetForwardNearestSignalsOnLane (const apollo::common::PointENU &point, const double distance, std::vector< SignalInfoConstPtr > *signals) const
	get forward nearest signals within certain range on the lane if there are two signals related to one stop line, return both signals.

int	GetForwardNearestBarriersOnLane (const apollo::common::PointENU &point, const double distance, std::vector< BarrierGateInfoConstPtr > *barrier_gates) const
	get forward nearest barrier_gates within certain range on the lane

int	GetStopSignAssociatedStopSigns (const Id &id, std::vector< StopSignInfoConstPtr > *stop_signs) const
	get all other stop signs associated with a stop sign in the same junction

int	GetStopSignAssociatedLanes (const Id &id, std::vector< LaneInfoConstPtr > *lanes) const
	get all lanes associated with a stop sign in the same junction

int	GetLocalMap (const apollo::common::PointENU &point, const std::pair< double, double > &range, Map *local_map) const
	get a local map which is identical to the origin map except that all map elements without overlap with the given region are deleted.

int	GetForwardNearestRSUs (const apollo::common::PointENU &point, double distance, double central_heading, double max_heading_difference, std::vector< RSUInfoConstPtr > *rsus) const
	get forward nearest rsus within certain range

bool	GetMapHeader (Header *map_header) const

详细描述

High-precision map loader interface.

在文件 hdmap.h 第 54 行定义.

成员函数说明

◆ GetAreaById()

AreaInfoConstPtr apollo::hdmap::HDMap::GetAreaById ( const Id & id ) const

在文件 hdmap.cc 第 42 行定义.

                                                      {
  return impl_.GetAreaById(id);
}

◆ GetAreas()

int apollo::hdmap::HDMap::GetAreas	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< AreaInfoConstPtr > *	areas
	)		const

get all areas in certain range

参数

point	the central point of the range
distance	the search radius
areas	store all areas in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 100 行定义.

                                                              {
  return impl_.GetAreas(point, distance, areas);
}

◆ GetBarrierGateById()

BarrierGateInfoConstPtr apollo::hdmap::HDMap::GetBarrierGateById ( const Id & id ) const

在文件 hdmap.cc 第 50 行定义.

                                                                    {
  return impl_.GetBarrierGateById(id);
}

◆ GetBarrierGates()

int apollo::hdmap::HDMap::GetBarrierGates	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< BarrierGateInfoConstPtr > *	barrier_gates
	)		const

get all barrier_gates in certain range

参数

point	the central point of the range
distance	the search radius
barrier_gates	store all barrier_gates in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 110 行定义.

                                                           {
  return impl_.GetBarrierGates(point, distance, barrier_gates);
}

◆ GetClearAreaById()

ClearAreaInfoConstPtr apollo::hdmap::HDMap::GetClearAreaById ( const Id & id ) const

在文件 hdmap.cc 第 66 行定义.

                                                                {
  return impl_.GetClearAreaById(id);
}

◆ GetClearAreas()

int apollo::hdmap::HDMap::GetClearAreas	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< ClearAreaInfoConstPtr > *	clear_areas
	)		const

get all clear areas in certain range

参数

point	the central point of the range
distance	the search radius
clear_areas	store all clear areas in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 132 行定义.

                                                         {
  return impl_.GetClearAreas(point, distance, clear_areas);
}

◆ GetCrosswalkById()

CrosswalkInfoConstPtr apollo::hdmap::HDMap::GetCrosswalkById ( const Id & id ) const

在文件 hdmap.cc 第 54 行定义.

                                                                {
  return impl_.GetCrosswalkById(id);
}

◆ GetCrosswalks()

int apollo::hdmap::HDMap::GetCrosswalks	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< CrosswalkInfoConstPtr > *	crosswalks
	)		const

get all crosswalks in certain range

参数

point	the central point of the range
distance	the search radius
crosswalks	store all crosswalks in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 116 行定义.

                                                                             {
  return impl_.GetCrosswalks(point, distance, crosswalks);
}

◆ GetForwardNearestBarriersOnLane()

int apollo::hdmap::HDMap::GetForwardNearestBarriersOnLane	(	const apollo::common::PointENU &	point,
		const double	distance,
		std::vector< BarrierGateInfoConstPtr > *	barrier_gates
	)		const

get forward nearest barrier_gates within certain range on the lane

参数

point	the target position
distance	the forward search distance
barrier_gates	all barrier_gates match conditions

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 223 行定义.

                                                             {
  return impl_.GetForwardNearestBarriersOnLane(point, distance, barrier_gates);
}

◆ GetForwardNearestRSUs()

int apollo::hdmap::HDMap::GetForwardNearestRSUs	(	const apollo::common::PointENU &	point,
		double	distance,
		double	central_heading,
		double	max_heading_difference,
		std::vector< RSUInfoConstPtr > *	rsus
	)		const

get forward nearest rsus within certain range

参数

point	the target position
distance	the forward search distance
central_heading	the base heading
max_heading_difference	the heading range
rsus	all rsus that match search conditions

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 245 行定义.

                                                            {
  return impl_.GetForwardNearestRSUs(point, distance,
                    central_heading,
                    max_heading_difference, rsus);
}

◆ GetForwardNearestSignalsOnLane()

int apollo::hdmap::HDMap::GetForwardNearestSignalsOnLane	(	const apollo::common::PointENU &	point,
		const double	distance,
		std::vector< SignalInfoConstPtr > *	signals
	)		const

get forward nearest signals within certain range on the lane if there are two signals related to one stop line, return both signals.

参数

point	the target position
distance	the forward search distance
signals	all signals match conditions

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 217 行定义.

                                                  {
  return impl_.GetForwardNearestSignalsOnLane(point, distance, signals);
}

◆ GetJunctionById()

JunctionInfoConstPtr apollo::hdmap::HDMap::GetJunctionById ( const Id & id ) const

在文件 hdmap.cc 第 38 行定义.

                                                              {
  return impl_.GetJunctionById(id);
}

◆ GetJunctions()

int apollo::hdmap::HDMap::GetJunctions	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< JunctionInfoConstPtr > *	junctions
	)		const

get all junctions in certain range

参数

point	the central point of the range
distance	the search radius
junctions	store all junctions in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 95 行定义.

                                                                          {
  return impl_.GetJunctions(point, distance, junctions);
}

◆ GetLaneById()

LaneInfoConstPtr apollo::hdmap::HDMap::GetLaneById ( const Id & id ) const

在文件 hdmap.cc 第 34 行定义.

                                                      {
  return impl_.GetLaneById(id);
}

◆ GetLanes()

int apollo::hdmap::HDMap::GetLanes	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< LaneInfoConstPtr > *	lanes
	)		const

get all lanes in certain range

参数

point	the central point of the range
distance	the search radius
lanes	store all lanes in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 90 行定义.

                                                              {
  return impl_.GetLanes(point, distance, lanes);
}

◆ GetLanesWithHeading()

int apollo::hdmap::HDMap::GetLanesWithHeading	(	const apollo::common::PointENU &	point,
		const double	distance,
		const double	central_heading,
		const double	max_heading_difference,
		std::vector< LaneInfoConstPtr > *	lanes
	)		const

get all lanes within a certain range by pose

参数

point	the target position
distance	the search radius
central_heading	the base heading
max_heading_difference	the heading range
nearest_lane	all lanes that match search conditions

返回: 0:success, otherwise, failed.

在文件 hdmap.cc 第 188 行定义.

                                                                         {
  return impl_.GetLanesWithHeading(point, distance, central_heading,
                                   max_heading_difference, lanes);
}

◆ GetLocalMap()

int apollo::hdmap::HDMap::GetLocalMap	(	const apollo::common::PointENU &	point,
		const std::pair< double, double > &	range,
		Map *	local_map
	)		const

get a local map which is identical to the origin map except that all map elements without overlap with the given region are deleted.

参数

point	the target position
range	the size of local map region, [width, height]
local_map	local map in proto format

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 239 行定义.

                                             {
  return impl_.GetLocalMap(point, range, local_map);
}

◆ GetMapHeader()

bool apollo::hdmap::HDMap::GetMapHeader ( Header * map_header ) const

在文件 hdmap.cc 第 254 行定义.

                                                 {
  return impl_.GetMapHeader(map_header);
}

◆ GetNearestLane()

int apollo::hdmap::HDMap::GetNearestLane	(	const apollo::common::PointENU &	point,
		LaneInfoConstPtr *	nearest_lane,
		double *	nearest_s,
		double *	nearest_l
	)		const

get nearest lane from target point,

参数

point	the target point
nearest_lane	the nearest lane that match search conditions
nearest_s	the offset from lane start point along lane center line
nearest_l	the lateral offset from lane center line

返回: 0:success, otherwise, failed.

在文件 hdmap.cc 第 170 行定义.

                                                   {
  return impl_.GetNearestLane(point, nearest_lane, nearest_s, nearest_l);
}

◆ GetNearestLaneWithDistance()

int apollo::hdmap::HDMap::GetNearestLaneWithDistance	(	const apollo::common::PointENU &	point,
		const double	distance,
		LaneInfoConstPtr *	nearest_lane,
		double *	nearest_s,
		double *	nearest_l
	)		const

get nearest lane from target point with search radius,

参数

point	the target point
distance	the search radius
nearest_lane	the nearest lane that match search conditions
nearest_s	the offset from lane start point along lane center line
nearest_l	the lateral offset from lane center line

返回: 0:success, otherwise, failed.

在文件 hdmap.cc 第 161 行定义.

                                                               {
  return impl_.GetNearestLaneWithDistance(point, distance, nearest_lane,
                                          nearest_s, nearest_l);
}

◆ GetNearestLaneWithHeading()

int apollo::hdmap::HDMap::GetNearestLaneWithHeading	(	const apollo::common::PointENU &	point,
		const double	distance,
		const double	central_heading,
		const double	max_heading_difference,
		LaneInfoConstPtr *	nearest_lane,
		double *	nearest_s,
		double *	nearest_l
	)		const

get the nearest lane within a certain range by pose

参数

point	the target position
distance	the search radius
central_heading	the base heading
max_heading_difference	the heading range
nearest_lane	the nearest lane that match search conditions
nearest_s	the offset from lane start point along lane center line
nearest_l	the lateral offset from lane center line

返回: 0:success, otherwise, failed.

在文件 hdmap.cc 第 176 行定义.

                                                              {
  return impl_.GetNearestLaneWithHeading(point, distance, central_heading,
                                         max_heading_difference, nearest_lane,
                                         nearest_s, nearest_l);
}

◆ GetOverlapById()

OverlapInfoConstPtr apollo::hdmap::HDMap::GetOverlapById ( const Id & id ) const

在文件 hdmap.cc 第 74 行定义.

                                                            {
  return impl_.GetOverlapById(id);
}

◆ GetParkingSpaceById()

ParkingSpaceInfoConstPtr apollo::hdmap::HDMap::GetParkingSpaceById ( const Id & id ) const

在文件 hdmap.cc 第 82 行定义.

                                                                      {
  return impl_.GetParkingSpaceById(id);
}

◆ GetParkingSpaces()

int apollo::hdmap::HDMap::GetParkingSpaces	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< ParkingSpaceInfoConstPtr > *	parking_spaces
	)		const

get all parking spaces in certain range

参数

point	the central point of the range
distance	the search radius
parking	spaces store all clear areas in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 149 行定义.

                                                               {
  return impl_.GetParkingSpaces(point, distance, parking_spaces);
}

◆ GetPNCJunctionById()

PNCJunctionInfoConstPtr apollo::hdmap::HDMap::GetPNCJunctionById ( const Id & id ) const

在文件 hdmap.cc 第 86 行定义.

                                                                    {
  return impl_.GetPNCJunctionById(id);
}

◆ GetPNCJunctions()

int apollo::hdmap::HDMap::GetPNCJunctions	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< PNCJunctionInfoConstPtr > *	pnc_junctions
	)		const

get all pnc junctions in certain range

参数

point	the central point of the range
distance	the search radius
junctions	store all junctions in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 155 行定义.

                                                             {
  return impl_.GetPNCJunctions(point, distance, pnc_junctions);
}

◆ GetRoadBoundaries() [1/2]

int apollo::hdmap::HDMap::GetRoadBoundaries	(	const apollo::common::PointENU &	point,
		double	radius,
		std::vector< RoadROIBoundaryPtr > *	road_boundaries,
		std::vector< JunctionBoundaryPtr > *	junctions
	)		const

get all road and junctions boundaries within certain range

参数

point	the target position
radius	the search radius
road_boundaries	the roads' boundaries
junctions	the junctions' boundaries

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 197 行定义.

                                                     {
  return impl_.GetRoadBoundaries(point, radius, road_boundaries, junctions);
}

◆ GetRoadBoundaries() [2/2]

int apollo::hdmap::HDMap::GetRoadBoundaries	(	const apollo::common::PointENU &	point,
		double	radius,
		std::vector< RoadRoiPtr > *	road_boundaries,
		std::vector< JunctionInfoConstPtr > *	junctions
	)		const

get all road boundaries and junctions within certain range

参数

point	the target position
radius	the search radius
road_boundaries	the roads' boundaries
junctions	the junctions

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 204 行定义.

                                                      {
  return impl_.GetRoadBoundaries(point, radius, road_boundaries, junctions);
}

◆ GetRoadById()

RoadInfoConstPtr apollo::hdmap::HDMap::GetRoadById ( const Id & id ) const

在文件 hdmap.cc 第 78 行定义.

                                                      {
  return impl_.GetRoadById(id);
}

◆ GetRoads()

int apollo::hdmap::HDMap::GetRoads	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< RoadInfoConstPtr > *	roads
	)		const

get all roads in certain range

参数

point	the central point of the range
distance	the search radius
roads	store all roads in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 144 行定义.

                                                              {
  return impl_.GetRoads(point, distance, roads);
}

◆ GetRoi()

int apollo::hdmap::HDMap::GetRoi	(	const apollo::common::PointENU &	point,
		double	radius,
		std::vector< RoadRoiPtr > *	roads_roi,
		std::vector< PolygonRoiPtr > *	polygons_roi
	)

get ROI within certain range

参数

point	the target position
radius	the search radius
roads_roi	the roads' boundaries
polygons_roi	the junctions' boundaries

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 211 行定义.

                                                          {
  return impl_.GetRoi(point, radius, roads_roi, polygons_roi);
}

◆ GetRSUById()

RSUInfoConstPtr apollo::hdmap::HDMap::GetRSUById ( const Id & id ) const

◆ GetSignalById()

SignalInfoConstPtr apollo::hdmap::HDMap::GetSignalById ( const Id & id ) const

在文件 hdmap.cc 第 46 行定义.

                                                          {
  return impl_.GetSignalById(id);
}

◆ GetSignals()

int apollo::hdmap::HDMap::GetSignals	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< SignalInfoConstPtr > *	signals
	)		const

get all signals in certain range

参数

point	the central point of the range
distance	the search radius
signals	store all signals in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 105 行定义.

                                                                    {
  return impl_.GetSignals(point, distance, signals);
}

◆ GetSpeedBumpById()

SpeedBumpInfoConstPtr apollo::hdmap::HDMap::GetSpeedBumpById ( const Id & id ) const

在文件 hdmap.cc 第 70 行定义.

                                                                {
  return impl_.GetSpeedBumpById(id);
}

◆ GetSpeedBumps()

int apollo::hdmap::HDMap::GetSpeedBumps	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< SpeedBumpInfoConstPtr > *	speed_bumps
	)		const

get all speed bumps in certain range

参数

point	the central point of the range
distance	the search radius
speed_bumps	store all speed bumps in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 138 行定义.

                                                         {
  return impl_.GetSpeedBumps(point, distance, speed_bumps);
}

◆ GetStopSignAssociatedLanes()

int apollo::hdmap::HDMap::GetStopSignAssociatedLanes	(	const Id &	id,
		std::vector< LaneInfoConstPtr > *	lanes
	)		const

get all lanes associated with a stop sign in the same junction

参数

id	id of stop sign
lanes	all lanes match conditions

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 234 行定义.

                                                            {
  return impl_.GetStopSignAssociatedLanes(id, lanes);
}

◆ GetStopSignAssociatedStopSigns()

int apollo::hdmap::HDMap::GetStopSignAssociatedStopSigns	(	const Id &	id,
		std::vector< StopSignInfoConstPtr > *	stop_signs
	)		const

get all other stop signs associated with a stop sign in the same junction

参数

id	id of stop sign
stop_signs	stop signs associated

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 229 行定义.

                                                                     {
  return impl_.GetStopSignAssociatedStopSigns(id, stop_signs);
}

◆ GetStopSignById()

StopSignInfoConstPtr apollo::hdmap::HDMap::GetStopSignById ( const Id & id ) const

在文件 hdmap.cc 第 58 行定义.

                                                              {
  return impl_.GetStopSignById(id);
}

◆ GetStopSigns()

int apollo::hdmap::HDMap::GetStopSigns	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< StopSignInfoConstPtr > *	stop_signs
	)		const

get all stop signs in certain range

参数

point	the central point of the range
distance	the search radius
stop	signs store all stop signs in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 121 行定义.

                                                                           {
  return impl_.GetStopSigns(point, distance, stop_signs);
}

◆ GetYieldSignById()

YieldSignInfoConstPtr apollo::hdmap::HDMap::GetYieldSignById ( const Id & id ) const

在文件 hdmap.cc 第 62 行定义.

                                                                {
  return impl_.GetYieldSignById(id);
}

◆ GetYieldSigns()

int apollo::hdmap::HDMap::GetYieldSigns	(	const apollo::common::PointENU &	point,
		double	distance,
		std::vector< YieldSignInfoConstPtr > *	yield_signs
	)		const

get all yield signs in certain range

参数

point	the central point of the range
distance	the search radius
yield	signs store all yield signs in target range

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 126 行定义.

                                                         {
  return impl_.GetYieldSigns(point, distance, yield_signs);
}

◆ LoadMapFromFile()

int apollo::hdmap::HDMap::LoadMapFromFile ( const std::string & map_filename )

load map from local file

参数

map_filename path of map data file

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 23 行定义.

                                                        {
  AINFO << "Loading HDMap: " << map_filename << " ...";
  return impl_.LoadMapFromFile(map_filename);
}

◆ LoadMapFromProto()

int apollo::hdmap::HDMap::LoadMapFromProto ( const Map & map_proto )

load map from a given protobuf message.

参数

map_proto map data in protobuf format

返回: 0:success, otherwise failed

在文件 hdmap.cc 第 28 行定义.

                                                {
  ADEBUG << "Loading HDMap with header: "
         << map_proto.header().ShortDebugString();
  return impl_.LoadMapFromProto(map_proto);
}

该类的文档由以下文件生成:

modules/map/hdmap/hdmap.h
modules/map/hdmap/hdmap.cc

Public 成员函数

详细描述

成员函数说明

◆ GetAreaById()

◆ GetAreas()

◆ GetBarrierGateById()

◆ GetBarrierGates()

◆ GetClearAreaById()

◆ GetClearAreas()

◆ GetCrosswalkById()

◆ GetCrosswalks()

◆ GetForwardNearestBarriersOnLane()

◆ GetForwardNearestRSUs()

◆ GetForwardNearestSignalsOnLane()

◆ GetJunctionById()

◆ GetJunctions()

◆ GetLaneById()

◆ GetLanes()

◆ GetLanesWithHeading()

◆ GetLocalMap()

◆ GetMapHeader()

◆ GetNearestLane()

◆ GetNearestLaneWithDistance()

◆ GetNearestLaneWithHeading()

◆ GetOverlapById()

◆ GetParkingSpaceById()

◆ GetParkingSpaces()

◆ GetPNCJunctionById()

◆ GetPNCJunctions()

◆ GetRoadBoundaries() [1/2]

◆ GetRoadBoundaries() [2/2]

◆ GetRoadById()

◆ GetRoads()

◆ GetRoi()

◆ GetRSUById()

◆ GetSignalById()

◆ GetSignals()

◆ GetSpeedBumpById()

◆ GetSpeedBumps()

◆ GetStopSignAssociatedLanes()

◆ GetStopSignAssociatedStopSigns()

◆ GetStopSignById()

◆ GetStopSigns()

◆ GetYieldSignById()

◆ GetYieldSigns()

◆ LoadMapFromFile()

◆ LoadMapFromProto()