apollo::hdmap::MapUtil类 参考

apollo::hdmap::MapUtil 的协作图:

Public 成员函数
const OverlapInfo *	GetOverlap (const std::string &overlap_id) const
	GET_ELEMENT_BY_ID (ClearArea)
	GET_ELEMENT_BY_ID (Crosswalk)
	GET_ELEMENT_BY_ID (Junction)
	GET_ELEMENT_BY_ID (Lane)
	GET_ELEMENT_BY_ID (Signal)
	GET_ELEMENT_BY_ID (SpeedBump)
	GET_ELEMENT_BY_ID (StopSign)
	GET_ELEMENT_BY_ID (YieldSign)
template<class T >
void	Print (const T &t)
int	PointToSL (const PointENU &point, std::string *lane_id, double *s, double *l, double *heading) const
int	SLToPoint (LaneInfoConstPtr lane_ptr, const double s, const double l, PointENU *point, double *heading) const
int	LaneProjection (const apollo::common::math::Vec2d &vec2d, const std::string &lane_id, double *s, double *l, double *heading) const
void	PrintOverlap (const std::string &overlap_id)
void	PrintLane (const std::string &lane_id)
void	PrintLane (LaneInfoConstPtr lane_ptr)

详细描述

在文件 map_xysl.cc 第 78 行定义.

成员函数说明

GET_ELEMENT_BY_ID() [1/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

ClearArea

)

GET_ELEMENT_BY_ID() [2/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

Crosswalk

)

GET_ELEMENT_BY_ID() [3/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

Junction

)

GET_ELEMENT_BY_ID() [4/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

Lane

)

GET_ELEMENT_BY_ID() [5/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

Signal

)

GET_ELEMENT_BY_ID() [6/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

SpeedBump

)

GET_ELEMENT_BY_ID() [7/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

StopSign

)

GET_ELEMENT_BY_ID() [8/8]

apollo::hdmap::MapUtil::GET_ELEMENT_BY_ID

(

YieldSign

)

GetOverlap()

const OverlapInfo * apollo::hdmap::MapUtil::GetOverlap ( const std::string &  overlap_id ) const

inline

在文件 map_xysl.cc 第 80 行定义.

                                                                   {
    auto ret = HDMapUtil::BaseMap().GetOverlapById(MakeMapId(overlap_id));
    AERROR_IF(ret == nullptr) << "failed to find overlap[" << overlap_id << "]";
    return ret.get();
  }

LaneProjection()

int apollo::hdmap::MapUtil::LaneProjection ( const apollo::common::math::Vec2d &  vec2d, const std::string &  lane_id, double *  s, double *  l, double *  heading  ) const

inline

在文件 map_xysl.cc 第 129 行定义.

                                            {
    QUIT_IF(s == nullptr, -1, ERROR, "arg s is nullptr");
    const auto lane = HDMapUtil::BaseMap().GetLaneById(MakeMapId(lane_id));
    QUIT_IF(lane == nullptr, -2, ERROR, "GetSignal_by_id[%s] failed",
            lane_id.c_str());
    bool ret = lane->GetProjection(vec2d, s, l);
    QUIT_IF(!ret, -3, ERROR, "lane[%s] get projection for point[%f, %f] failed",
            lane_id.c_str(), vec2d.x(), vec2d.y());
    *heading = lane->Heading(*s);
    return 0;
  }

PointToSL()

int apollo::hdmap::MapUtil::PointToSL ( const PointENU &  point, std::string *  lane_id, double *  s, double *  l, double *  heading  ) const

inline

在文件 map_xysl.cc 第 100 行定义.

                                                  {
    QUIT_IF(lane_id == nullptr, -1, ERROR, "arg lane id is null");
    QUIT_IF(s == nullptr, -2, ERROR, "arg s is null");
    QUIT_IF(l == nullptr, -3, ERROR, "arg l is null");
    LaneInfoConstPtr lane = nullptr;
    int ret = HDMapUtil::BaseMap().GetNearestLane(point, &lane, s, l);
    QUIT_IF(ret != 0, -4, ERROR, "get_nearest_lane failed with ret[%d]", ret);
    QUIT_IF(lane == nullptr, -5, ERROR, "lane is null");
    *lane_id = lane->id().id();
    *heading = lane->Heading(*s);
    return 0;
  }

Print()

template<class T >

void apollo::hdmap::MapUtil::Print ( const T &  t )

inline

在文件 map_xysl.cc 第 96 行定义.

                         {
    std::cout << t.DebugString();
  }

PrintLane() [1/2]

void apollo::hdmap::MapUtil::PrintLane ( const std::string &  lane_id )

inline

在文件 map_xysl.cc 第 185 行定义.

{ PrintLane(GetLane(lane_id)); }

PrintLane() [2/2]

void apollo::hdmap::MapUtil::PrintLane ( LaneInfoConstPtr  lane_ptr )

inline

在文件 map_xysl.cc 第 186 行定义.

                                            {
    const auto &lane = lane_ptr->lane();
    PointENU start_point;
    double start_heading = 0.0;
    SLToPoint(lane_ptr, 0, 0, &start_point, &start_heading);
 
    PointENU end_point;
    double end_heading = 0.0;
    SLToPoint(lane_ptr, lane_ptr->total_length(), 0, &end_point, &end_heading);
 
    double left_width = 0.0;
    double right_width = 0.0;
    lane_ptr->GetWidth(FLAGS_s, &left_width, &right_width);
 
    std::cout << "lane[" << FLAGS_lane << std::fixed << "] length["
              << lane_ptr->total_length() << "] type["
              << Lane_LaneType_Name(lane.type()) << "] turn["
              << Lane_LaneTurn_Name(lane.turn()) << "] speed_limit["
              << lane.speed_limit() << "] predecessor[" << lane.predecessor_id()
              << "] successor[" << lane.successor_id() << "] left_forward["
              << lane.left_neighbor_forward_lane_id() << "] right_forward["
              << lane.right_neighbor_forward_lane_id() << "] left_reverse["
              << lane.left_neighbor_reverse_lane_id() << "] right_reverse["
              << lane.right_neighbor_reverse_lane_id() << "], "
              << "Left Boundary: [ virtual?:" << std::boolalpha
              << lane.left_boundary().virtual_() << ", Type: [";
    for (const auto &boundary_type : lane.left_boundary().boundary_type()) {
      std::cout << "s: " << boundary_type.s() << "->";
      for (const auto t : boundary_type.types()) {
        std::cout << LaneBoundaryType::Type_Name(
                         static_cast<LaneBoundaryType::Type>(t))
                  << ", ";
      }
    }
 
    std::cout << "]; Right Boundary: [ virtual?:" << std::boolalpha
              << lane.right_boundary().virtual_() << ", Type: ";
    for (const auto &boundary_type : lane.left_boundary().boundary_type()) {
      std::cout << "s: " << boundary_type.s() << "->";
      for (const auto t : boundary_type.types()) {
        std::cout << LaneBoundaryType::Type_Name(
                         static_cast<LaneBoundaryType::Type>(t))
                  << ", ";
      }
    }
    std::cout << "] overlap[" << lane.overlap_id() << "];"
              << " start point(x,y,heading):" << start_point.x() << ","
              << start_point.y() << "," << start_heading
              << " end point(x,y,heading):" << end_point.x() << ","
              << end_point.y() << "," << end_heading
              << " left_width:" << left_width << " right_width:" << right_width
              << std::endl;
    std::cout.unsetf(std::ios_base::fixed);
 
    if (FLAGS_dump_lane_width) {
      const auto sample_left_widthes = lane_ptr->sampled_left_width();
      std::cout << "left width num: " << sample_left_widthes.size()
                << std::endl;
      int num = 0;
      for (auto w : sample_left_widthes) {
        std::cout << " " << w.second;
        if (++num % 10 == 0) {
          std::cout << std::endl;
        }
      }
      std::cout << std::endl;
      num = 0;
      const auto sample_right_widthes = lane_ptr->sampled_right_width();
      std::cout << "right width num: " << sample_right_widthes.size()
                << std::endl;
      for (auto w : sample_right_widthes) {
        std::cout << " " << w.second;
        if (++num % 10 == 0) {
          std::cout << std::endl;
        }
      }
      std::cout << std::endl;
    }
  }

PrintOverlap()

void apollo::hdmap::MapUtil::PrintOverlap ( const std::string &  overlap_id )

inline

在文件 map_xysl.cc 第 143 行定义.

                                                 {
    const auto *overlap_ptr = GetOverlap(FLAGS_overlap);
    if (overlap_ptr == nullptr) {
      AERROR << "overlap_ptr is nullptr.";
      return;
    }
    ADEBUG << "overlap[" << overlap_ptr->id().id() << "] info["
           << overlap_ptr->overlap().DebugString() << "]" << std::endl;
 
    for (const auto &object_info : overlap_ptr->overlap().object()) {
      if (object_info.has_lane_overlap_info()) {
        std::cout << "Lane : " << object_info.id().id() << std::endl;
        PrintLane(GetLane(object_info.id().id()));
      } else if (object_info.has_signal_overlap_info()) {
        std::cout << "Signal: " << object_info.id().id() << std::endl;
        Print(GetSignal(object_info.id().id())->signal());
      } else if (object_info.has_stop_sign_overlap_info()) {
        std::cout << "StopSign: " << object_info.id().id() << std::endl;
        Print(GetStopSign(object_info.id().id())->stop_sign());
      } else if (object_info.has_crosswalk_overlap_info()) {
        std::cout << "Crosswalk: " << object_info.id().id() << std::endl;
        Print(GetCrosswalk(object_info.id().id())->crosswalk());
      } else if (object_info.has_junction_overlap_info()) {
        std::cout << "Junction: " << object_info.id().id() << std::endl;
        Print(GetJunction(object_info.id().id())->junction());
      } else if (object_info.has_yield_sign_overlap_info()) {
        std::cout << "YieldSign: " << object_info.id().id() << std::endl;
        Print(GetYieldSign(object_info.id().id())->yield_sign());
      } else if (object_info.has_clear_area_overlap_info()) {
        std::cout << "ClearArea: " << object_info.id().id() << std::endl;
        Print(GetClearArea(object_info.id().id())->clear_area());
      } else if (object_info.has_speed_bump_overlap_info()) {
        std::cout << "SpeedBump: " << object_info.id().id() << std::endl;
        Print(GetSpeedBump(object_info.id().id())->speed_bump());
      } else if (object_info.has_parking_space_overlap_info()) {
        std::cout << "ParkingSpace: " << object_info.id().id() << std::endl;
      } else {
        std::cout << "Unknown overlap type:  " << object_info.DebugString();
      }
    }
  }

SLToPoint()

int apollo::hdmap::MapUtil::SLToPoint ( LaneInfoConstPtr  lane_ptr, const double  s, const double  l, PointENU *  point, double *  heading  ) const

inline

在文件 map_xysl.cc 第 114 行定义.

                                                        {
    QUIT_IF(point == nullptr, -1, ERROR, "arg point is null");
    QUIT_IF(heading == nullptr, -2, ERROR, "arg heading is null");
    QUIT_IF(lane_ptr == nullptr, -3, ERROR, "the provided lane_ptr is null");
    *point = lane_ptr->GetSmoothPoint(s);
    *heading = lane_ptr->Heading(s);
    auto normal_vec =
        common::math::Vec2d::CreateUnitVec2d(*heading + M_PI / 2.0) * l;
    point->set_x(point->x() + normal_vec.x());
    point->set_y(point->y() + normal_vec.y());
 
    return 0;
  }

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该类的文档由以下文件生成:

• modules/map/tools/map_xysl.cc