#include <rtk_localization.h>

apollo::localization::RTKLocalization 的协作图:

Public 成员函数
	RTKLocalization ()

	~RTKLocalization ()=default

void	InitConfig (const rtk_config::Config &config)

void	GpsCallback (const std::shared_ptr< localization::Gps > &gps_msg)

void	GpsStatusCallback (const std::shared_ptr< drivers::gnss::InsStat > &status_msg)

void	ImuCallback (const std::shared_ptr< localization::CorrectedImu > &imu_msg)

bool	IsServiceStarted ()

void	GetLocalization (LocalizationEstimate *localization)

void	GetLocalizationStatus (LocalizationStatus *localization_status)

详细描述

在文件 rtk_localization.h 第 36 行定义.

构造及析构函数说明

◆ RTKLocalization()

apollo::localization::RTKLocalization::RTKLocalization ( )

在文件 rtk_localization.cc 第 33 行定义.

    : map_offset_{0.0, 0.0, 0.0},
      monitor_logger_(
          apollo::common::monitor::MonitorMessageItem::LOCALIZATION) {}

◆ ~RTKLocalization()

apollo::localization::RTKLocalization::~RTKLocalization ( )

default

成员函数说明

◆ GetLocalization()

void apollo::localization::RTKLocalization::GetLocalization ( LocalizationEstimate * localization )

在文件 rtk_localization.cc 第 119 行定义.

                                                                        {
  *localization = last_localization_result_;
}

◆ GetLocalizationStatus()

void apollo::localization::RTKLocalization::GetLocalizationStatus ( LocalizationStatus * localization_status )

在文件 rtk_localization.cc 第 123 行定义.

                                             {
  *localization_status = last_localization_status_result_;
}

◆ GpsCallback()

void apollo::localization::RTKLocalization::GpsCallback ( const std::shared_ptr< localization::Gps > & gps_msg )

在文件 rtk_localization.cc 第 46 行定义.

                                                   {
  double time_delay = last_received_timestamp_sec_
                          ? Clock::NowInSeconds() - last_received_timestamp_sec_
                          : last_received_timestamp_sec_;
  if (time_delay > gps_time_delay_tolerance_) {
    std::stringstream ss;
    ss << "GPS message time interval: " << time_delay;
    monitor_logger_.WARN(ss.str());
  }
 
  {
    std::unique_lock<std::mutex> lock(imu_list_mutex_);
 
    if (imu_list_.empty()) {
      AERROR << "IMU message buffer is empty.";
      if (service_started_) {
        monitor_logger_.ERROR("IMU message buffer is empty.");
      }
      return;
    }
  }
 
  {
    std::unique_lock<std::mutex> lock(gps_status_list_mutex_);
 
    if (gps_status_list_.empty()) {
      AERROR << "Gps status message buffer is empty.";
      if (service_started_) {
        monitor_logger_.ERROR("Gps status message buffer is empty.");
      }
      return;
    }
  }
 
  // publish localization messages
  PrepareLocalizationMsg(*gps_msg, &last_localization_result_,
                         &last_localization_status_result_);
  service_started_ = true;
  if (service_started_time == 0.0) {
    service_started_time = Clock::NowInSeconds();
  }
 
  // watch dog
  RunWatchDog(gps_msg->header().timestamp_sec());
 
  last_received_timestamp_sec_ = Clock::NowInSeconds();
}

◆ GpsStatusCallback()

void apollo::localization::RTKLocalization::GpsStatusCallback ( const std::shared_ptr< drivers::gnss::InsStat > & status_msg )

在文件 rtk_localization.cc 第 95 行定义.

                                                         {
  std::unique_lock<std::mutex> lock(gps_status_list_mutex_);
  if (gps_status_list_.size() < gps_status_list_max_size_) {
    gps_status_list_.push_back(*status_msg);
  } else {
    gps_status_list_.pop_front();
    gps_status_list_.push_back(*status_msg);
  }
}

◆ ImuCallback()

void apollo::localization::RTKLocalization::ImuCallback ( const std::shared_ptr< localization::CorrectedImu > & imu_msg )

在文件 rtk_localization.cc 第 106 行定义.

                                                            {
  std::unique_lock<std::mutex> lock(imu_list_mutex_);
  if (imu_list_.size() < imu_list_max_size_) {
    imu_list_.push_back(*imu_msg);
  } else {
    imu_list_.pop_front();
    imu_list_.push_back(*imu_msg);
  }
}

◆ InitConfig()

void apollo::localization::RTKLocalization::InitConfig ( const rtk_config::Config & config )

在文件 rtk_localization.cc 第 38 行定义.

                                                               {
  imu_list_max_size_ = config.imu_list_max_size();
  gps_imu_time_diff_threshold_ = config.gps_imu_time_diff_threshold();
  map_offset_[0] = config.map_offset_x();
  map_offset_[1] = config.map_offset_y();
  map_offset_[2] = config.map_offset_z();
}

◆ IsServiceStarted()

bool apollo::localization::RTKLocalization::IsServiceStarted ( )

在文件 rtk_localization.cc 第 117 行定义.

117{ return service_started_; }

该类的文档由以下文件生成:

modules/localization/rtk/rtk_localization.h
modules/localization/rtk/rtk_localization.cc

Public 成员函数