apollo::hdmap::adapter::OpendriveAdapter类 参考

#include <opendrive_adapter.h>

apollo::hdmap::adapter::OpendriveAdapter 的协作图:

静态 Public 成员函数
static bool	LoadData (const std::string &filename, apollo::hdmap::Map *pb_map)

详细描述

在文件 opendrive_adapter.h 第 25 行定义.

成员函数说明

LoadData()

bool apollo::hdmap::adapter::OpendriveAdapter::LoadData ( const std::string &  filename, apollo::hdmap::Map *  pb_map  )

static

在文件 opendrive_adapter.cc 第 35 行定义.

                                                        {
  CHECK_NOTNULL(pb_map);
 
  tinyxml2::XMLDocument document;
  if (document.LoadFile(filename.c_str()) != tinyxml2::XML_SUCCESS) {
    AERROR << "fail to load file " << filename;
    return false;
  }
 
  // root node
  const tinyxml2::XMLElement* root_node = document.RootElement();
  ACHECK(root_node != nullptr);
  // header
  PbHeader* map_header = pb_map->mutable_header();
  Status status = HeaderXmlParser::Parse(*root_node, map_header);
  if (!status.ok()) {
    AERROR << "fail to parse opendrive header, " << status.error_message();
    return false;
  }
 
  // road
  std::vector<RoadInternal> roads;
  status = RoadsXmlParser::Parse(*root_node, &roads);
  if (!status.ok()) {
    AERROR << "fail to parse opendrive road, " << status.error_message();
    return false;
  }
 
  // junction
  std::vector<JunctionInternal> junctions;
  status = JunctionsXmlParser::Parse(*root_node, &junctions);
  if (!status.ok()) {
    AERROR << "fail to parse opendrive junction, " << status.error_message();
    return false;
  }
 
  // objects
  ObjectInternal objects;
  status = ObjectsXmlParser::ParseObjects(*root_node, &objects);
  if (!status.ok()) {
    AERROR << "fail to parse opendrive objects, " << status.error_message();
    return false;
  }
 
  ProtoOrganizer proto_organizer;
  proto_organizer.GetRoadElements(&roads);
  proto_organizer.GetJunctionElements(junctions);
  proto_organizer.GetObjectElements(objects);
  proto_organizer.GetOverlapElements(roads, junctions);
  proto_organizer.OutputData(pb_map);
 
  return true;
}

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该类的文档由以下文件生成:

• modules/map/hdmap/adapter/opendrive_adapter.h
• modules/map/hdmap/adapter/opendrive_adapter.cc