apollo::hdmap::adapter::CoordinateConvertTool类 参考

#include <coordinate_convert_tool.h>

apollo::hdmap::adapter::CoordinateConvertTool 的协作图:

Public 成员函数
	CoordinateConvertTool ()
	~CoordinateConvertTool ()
Status	SetConvertParam (const std::string &source_param, const std::string &dst_param)
Status	CoordiateConvert (const double longitude, const double latitude, const double height_ellipsoid, double *utm_x, double *utm_y, double *utm_z)

静态 Public 成员函数
static CoordinateConvertTool *	GetInstance ()

详细描述

在文件 coordinate_convert_tool.h 第 28 行定义.

构造及析构函数说明

CoordinateConvertTool()

apollo::hdmap::adapter::CoordinateConvertTool::CoordinateConvertTool

(

)

在文件 coordinate_convert_tool.cc 第 23 行定义.

    : pj_from_(nullptr), pj_to_(nullptr) {}

~CoordinateConvertTool()

apollo::hdmap::adapter::CoordinateConvertTool::~CoordinateConvertTool

(

)

在文件 coordinate_convert_tool.cc 第 26 行定义.

                                              {
  if (pj_from_) {
    pj_free(pj_from_);
    pj_from_ = nullptr;
  }
 
  if (pj_to_) {
    pj_free(pj_to_);
    pj_to_ = nullptr;
  }
}

成员函数说明

CoordiateConvert()

Status apollo::hdmap::adapter::CoordinateConvertTool::CoordiateConvert	(	const double	longitude,
		const double	latitude,
		const double	height_ellipsoid,
		double *	utm_x,
		double *	utm_y,
		double *	utm_z
	)

在文件 coordinate_convert_tool.cc 第 72 行定义.

                                                              {
  CHECK_NOTNULL(utm_x);
  CHECK_NOTNULL(utm_y);
  CHECK_NOTNULL(utm_z);
  if (!pj_from_ || !pj_to_) {
    std::string err_msg = "no transform param";
    return Status(apollo::common::ErrorCode::HDMAP_DATA_ERROR, err_msg);
  }
 
  double gps_longitude = longitude;
  double gps_latitude = latitude;
  double gps_alt = height_ellipsoid;
 
  if (pj_is_latlong(pj_from_)) {
    gps_longitude *= DEG_TO_RAD;
    gps_latitude *= DEG_TO_RAD;
    gps_alt = height_ellipsoid;
  }
 
  if (0 != pj_transform(pj_from_, pj_to_, 1, 1, &gps_longitude, &gps_latitude,
                        &gps_alt)) {
    std::string err_msg = "fail to transform coordinate";
    return Status(apollo::common::ErrorCode::HDMAP_DATA_ERROR, err_msg);
  }
 
  if (pj_is_latlong(pj_to_)) {
    gps_longitude *= RAD_TO_DEG;
    gps_latitude *= RAD_TO_DEG;
  }
 
  *utm_x = gps_longitude;
  *utm_y = gps_latitude;
  *utm_z = gps_alt;
 
  return Status::OK();
}

GetInstance()

CoordinateConvertTool * apollo::hdmap::adapter::CoordinateConvertTool::GetInstance ( )

static

在文件 coordinate_convert_tool.cc 第 38 行定义.

                                                          {
  static CoordinateConvertTool instance;
  return &instance;
}

SetConvertParam()

Status apollo::hdmap::adapter::CoordinateConvertTool::SetConvertParam	(	const std::string &	source_param,
		const std::string &	dst_param
	)

在文件 coordinate_convert_tool.cc 第 43 行定义.

                                                                          {
  source_convert_param_ = source_param;
  dst_convert_param_ = dst_param;
  if (pj_from_) {
    pj_free(pj_from_);
    pj_from_ = nullptr;
  }
 
  if (pj_to_) {
    pj_free(pj_to_);
    pj_to_ = nullptr;
  }
 
  if (!(pj_from_ = pj_init_plus(source_convert_param_.c_str()))) {
    std::string err_msg = "Fail to pj_init_plus " + source_convert_param_;
    return Status(apollo::common::ErrorCode::HDMAP_DATA_ERROR, err_msg);
  }
 
  if (!(pj_to_ = pj_init_plus(dst_convert_param_.c_str()))) {
    std::string err_msg = "Fail to pj_init_plus " + dst_convert_param_;
    pj_free(pj_from_);
    pj_from_ = nullptr;
    return Status(apollo::common::ErrorCode::HDMAP_DATA_ERROR, err_msg);
  }
 
  return Status::OK();
}

---

该类的文档由以下文件生成:

• modules/map/hdmap/adapter/xml_parser/coordinate_convert_tool.h
• modules/map/hdmap/adapter/xml_parser/coordinate_convert_tool.cc