apollo::localization::LocalizationGnssCompensator类 参考

#include <gnss_compensator.h>

apollo::localization::LocalizationGnssCompensator 的协作图:

Public 成员函数
	~LocalizationGnssCompensator ()
void	ProcessCompensation (const uint64_t &current_send_tf_time, uint64_t *measurement_time)
	compensate the time parsed from invalid GNSS data

详细描述

在文件 gnss_compensator.h 第 26 行定义.

构造及析构函数说明

~LocalizationGnssCompensator()

apollo::localization::LocalizationGnssCompensator::~LocalizationGnssCompensator

(

)

在文件 gnss_compensator.cc 第 25 行定义.

{}

成员函数说明

ProcessCompensation()

void apollo::localization::LocalizationGnssCompensator::ProcessCompensation	(	const uint64_t &	current_send_tf_time,
		uint64_t *	measurement_time
	)

compensate the time parsed from invalid GNSS data

参数

current_send_tf_time	the time of sending tf msg
measurement_time	GNSS data measurement time

在文件 gnss_compensator.cc 第 27 行定义.

                                                                      {
  // Sometimes GNSS does not return valid timestamp
  // The following logic is to compensate the invalid timestamp of GNSS
  // we use 3 variables to make this compensation
  // last_valid_gnss_time_: Time parsed from last valid GNSS data
  // last_send_tf_time_: Time of the last tf sent
  // last_compensated_gnss_time_: Time of compensated gnss time
  uint64_t compensated_delta;
  if (last_valid_gnss_time_ != 0 && last_send_tf_time_ != 0) {
    // calculate delta
    compensated_delta = current_send_tf_time - last_send_tf_time_;
    // If exceed the tolerance range and the measurement time
    // is less than or equal to the last valid GNSS time, the
    // GNSS data is considered invalid.
    if (compensated_delta >=
        static_cast<uint64_t>(FLAGS_gps_imu_compensate_ns_tolerance) &&
        *measurement_time <= last_valid_gnss_time_) {
      // Record the time of compensation for use in case
      // the next GNSS data is also invalid
      last_compensated_gnss_time_ =
        last_compensated_gnss_time_+ compensated_delta;
      AINFO << "enter compensator: " << "last valid gnss time: " <<
        last_valid_gnss_time_ << ", " << "measurement time: " <<
        *measurement_time << ", " << "measurement time after compensated: " <<
        last_compensated_gnss_time_;
      // only compensate when the flag is true
      if (FLAGS_enable_gps_imu_compensate)
        *measurement_time = last_compensated_gnss_time_;
    } else {
      // If the GNSS data is valid, simply record it
      last_valid_gnss_time_ = *measurement_time;
      last_compensated_gnss_time_ = *measurement_time;
    }
  } else {
    // Initialize
    last_valid_gnss_time_ = *measurement_time;
    last_compensated_gnss_time_ = *measurement_time;
  }
  last_send_tf_time_ = current_send_tf_time;
}

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该类的文档由以下文件生成:

• modules/localization/common/gnss_compensator.h
• modules/localization/common/gnss_compensator.cc