#include <rtk_localization_component.h>

类 apollo::localization::RTKLocalizationComponent 继承关系图:

apollo::localization::RTKLocalizationComponent 的协作图:

Public 成员函数
	RTKLocalizationComponent ()

	~RTKLocalizationComponent ()=default

bool	Init () override

bool	Proc (const std::shared_ptr< localization::Gps > &gps_msg) override

Public 成员函数继承自 apollo::cyber::Component< localization::Gps >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< localization::Gps > &msg0, const std::shared_ptr< NullType > &msg1, const std::shared_ptr< NullType > &msg2, const std::shared_ptr< NullType > &msg3)

Public 成员函数继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &config)

virtual void	Shutdown ()

template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Protected 成员函数继承自 apollo::cyber::ComponentBase
virtual void	Clear ()

const std::string &	ConfigFilePath () const

void	LoadConfigFiles (const ComponentConfig &config)

void	LoadConfigFiles (const TimerComponentConfig &config)

Protected 属性继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}

std::shared_ptr< Node >	node_ = nullptr

std::string	config_file_path_ = ""

std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 rtk_localization_component.h 第 45 行定义.

构造及析构函数说明

◆ RTKLocalizationComponent()

apollo::localization::RTKLocalizationComponent::RTKLocalizationComponent ( )

在文件 rtk_localization_component.cc 第 31 行定义.

32 : localization_(new RTKLocalization()) {}

◆ ~RTKLocalizationComponent()

apollo::localization::RTKLocalizationComponent::~RTKLocalizationComponent ( )

default

成员函数说明

◆ Init()

bool apollo::localization::RTKLocalizationComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 rtk_localization_component.cc 第 34 行定义.

                                    {
  tf2_broadcaster_.reset(new apollo::transform::TransformBroadcaster(node_));
  if (!InitConfig()) {
    AERROR << "Init Config falseed.";
    return false;
  }
 
  if (!InitIO()) {
    AERROR << "Init Interval falseed.";
    return false;
  }
 
  // get imu to localizaiton transform
  if (!GetLocalizationToImuTF()) {
    AERROR << "Get IMU to Localization tranform failed.";
    return false;
  }
 
  return true;
}

◆ Proc()

bool apollo::localization::RTKLocalizationComponent::Proc ( const std::shared_ptr< localization::Gps > & gps_msg )

override

在文件 rtk_localization_component.cc 第 157 行定义.

                                                   {
  localization_->GpsCallback(gps_msg);
 
  if (localization_->IsServiceStarted()) {
    LocalizationEstimate localization;
    localization_->GetLocalization(&localization);
    LocalizationStatus localization_status;
    localization_->GetLocalizationStatus(&localization_status);
 
    // set localization pose at rear axle center
    CompensateImuLocalizationExtrinsic(&localization);
 
    // publish localization messages
    PublishPoseBroadcastTopic(localization);
    PublishPoseBroadcastTF(localization);
    PublishLocalizationStatus(localization_status);
    ADEBUG << "[OnTimer]: Localization message publish success!";
  }
 
  return true;
}

该类的文档由以下文件生成:

modules/localization/rtk/rtk_localization_component.h
modules/localization/rtk/rtk_localization_component.cc

Public 成员函数