apollo::hdmap::PoseCollectionAgent类 参考

#include <pose_collection_agent.h>

apollo::hdmap::PoseCollectionAgent 的协作图:

Public 成员函数
	PoseCollectionAgent (std::shared_ptr< JsonConf > sp_conf)
void	OnBestgnssposCallback (const std::shared_ptr< const apollo::drivers::gnss::GnssBestPose > &bestgnsspos)
std::shared_ptr< std::vector< FramePose > >	GetPoses () const
	~PoseCollectionAgent ()

详细描述

在文件 pose_collection_agent.h 第 30 行定义.

构造及析构函数说明

PoseCollectionAgent()

apollo::hdmap::PoseCollectionAgent::PoseCollectionAgent ( std::shared_ptr< JsonConf >  sp_conf )

explicit

在文件 pose_collection_agent.cc 第 26 行定义.

                                                                        {
  sp_pj_transformer_ = std::make_shared<PJTransformer>(50);
  sp_conf_ = sp_conf;
  Reset();
}

~PoseCollectionAgent()

apollo::hdmap::PoseCollectionAgent::~PoseCollectionAgent

(

)

在文件 pose_collection_agent.cc 第 91 行定义.

                                          {
  if (pose_file != nullptr) {
    fclose(pose_file);
    pose_file = nullptr;
  }
}

成员函数说明

GetPoses()

std::shared_ptr< std::vector< FramePose > > apollo::hdmap::PoseCollectionAgent::GetPoses

(

)

const

在文件 pose_collection_agent.cc 第 84 行定义.

                                                                        {
  if (sp_pose_collection_ == nullptr) {
    return nullptr;
  }
  return sp_pose_collection_->GetPoses();
}

OnBestgnssposCallback()

void apollo::hdmap::PoseCollectionAgent::OnBestgnssposCallback

(

const std::shared_ptr< const apollo::drivers::gnss::GnssBestPose > &

bestgnsspos

)

在文件 pose_collection_agent.cc 第 36 行定义.

                      {
  if (sp_pose_collection_ == nullptr) {
    sp_pose_collection_ = std::make_shared<PoseCollection>(sp_conf_);
  }
 
  double time_stamp = apollo::cyber::common::GpsToUnixSeconds(
      bestgnsspos->measurement_time());  // in seconds
  FramePose pose;
  if (sp_conf_->use_system_time) {
    pose.time_stamp = UnixNow();
    AINFO << "system time: " << pose.time_stamp;
  } else {
    pose.time_stamp = time_stamp;
  }
  pose.latitude = bestgnsspos->latitude();
  pose.longitude = bestgnsspos->longitude();
  pose.altitude = bestgnsspos->height_msl();
  pose.solution_status = bestgnsspos->sol_status();
  pose.position_type = bestgnsspos->sol_type();
  pose.diff_age = bestgnsspos->differential_age();
  double latitude_std = bestgnsspos->latitude_std_dev();
  double longitude_std = bestgnsspos->longitude_std_dev();
  double altitude_std = bestgnsspos->height_std_dev();
  pose.local_std =
      std::sqrt(latitude_std * latitude_std + longitude_std * longitude_std +
                altitude_std * altitude_std);
  pose.tx = pose.longitude * kDEGRESS_TO_RADIANS;
  pose.ty = pose.latitude * kDEGRESS_TO_RADIANS;
  pose.tz = pose.altitude;
  sp_pj_transformer_->LatlongToUtm(1, 1, &pose.tx, &pose.ty, &pose.tz);
 
  std::lock_guard<std::mutex> mutex_locker(mutex_);
  if (pose_file == nullptr) pose_file = fopen("poses.txt", "w");
  if (pose_file == nullptr) {
    AERROR << "open poses.txt failed";
    return;
  }
  static int count = 0;
  fprintf(stderr, "%d:%lf %lf %lf %lf 0.0 0.0 0.0 0.0\n", ++count,
          pose.time_stamp, pose.tx, pose.ty, pose.tz);
  fprintf(pose_file, "%lf %lf %lf %lf 0.0 0.0 0.0 0.0\n", pose.time_stamp,
          pose.tx, pose.ty, pose.tz);
  fflush(pose_file);
  sp_pose_collection_->Collect(pose);
}

---

该类的文档由以下文件生成:

• modules/map/tools/map_datachecker/server/pose_collection_agent.h
• modules/map/tools/map_datachecker/server/pose_collection_agent.cc