apollo::localization::msf::IntepolationMessageBuffer< MessageType > 模板类 参考

#include <visualization_manager.h>

类 apollo::localization::msf::IntepolationMessageBuffer< MessageType > 继承关系图:

apollo::localization::msf::IntepolationMessageBuffer< MessageType > 的协作图:

Public 类型
typedef std::list< std::pair< double, MessageType > >::iterator	ListIterator
Public 类型 继承自 apollo::localization::msf::MessageBuffer< MessageType >
typedef std::list< std::pair< double, MessageType > >::iterator	ListIterator

Public 成员函数
	IntepolationMessageBuffer (int capacity)
	~IntepolationMessageBuffer ()
bool	QueryMessage (const double timestamp, MessageType *msg, double timeout_s=0.01)
Public 成员函数 继承自 apollo::localization::msf::MessageBuffer< MessageType >
	MessageBuffer (int capacity)
	~MessageBuffer ()
bool	PushNewMessage (const double timestamp, const MessageType &msg)
bool	PopOldestMessage (MessageType *msg)
bool	GetMessageBefore (const double timestamp, MessageType *msg)
bool	GetMessage (const double timestamp, MessageType *msg)
void	Clear ()
void	SetCapacity (const unsigned int capacity)
void	GetAllMessages (std::list< std::pair< double, MessageType > > *msg_list)
bool	IsEmpty ()
unsigned int	BufferSize ()

额外继承的成员函数
Protected 属性 继承自 apollo::localization::msf::MessageBuffer< MessageType >
std::map< double, ListIterator >	msg_map_
std::list< std::pair< double, MessageType > >	msg_list_
pthread_mutex_t	buffer_mutex_
unsigned int	capacity_

详细描述

template<class MessageType>
class apollo::localization::msf::IntepolationMessageBuffer< MessageType >

在文件 visualization_manager.h 第 118 行定义.

成员类型定义说明

ListIterator

template<class MessageType >

typedef std::list<std::pair<double,MessageType>>::iterator apollo::localization::msf::IntepolationMessageBuffer< MessageType >::ListIterator

在文件 visualization_manager.h 第 121 行定义.

构造及析构函数说明

IntepolationMessageBuffer()

template<class MessageType >

apollo::localization::msf::IntepolationMessageBuffer< MessageType >::IntepolationMessageBuffer ( int  capacity )

explicit

在文件 visualization_manager.cc 第 173 行定义.

    : MessageBuffer<MessageType>(capacity) {}

~IntepolationMessageBuffer()

template<class MessageType >

apollo::localization::msf::IntepolationMessageBuffer< MessageType >::~IntepolationMessageBuffer

(

)

在文件 visualization_manager.cc 第 177 行定义.

{}

成员函数说明

QueryMessage()

template<class MessageType >

bool apollo::localization::msf::IntepolationMessageBuffer< MessageType >::QueryMessage	(	const double	timestamp,
		MessageType *	msg,
		double	timeout_s = 0.01
	)

在文件 visualization_manager.cc 第 180 行定义.

                                                                {
  std::map<double, ListIterator> msg_map_tem;
  std::list<std::pair<double, MessageType>> msg_list_tem;
 
  if (!WaitMessageBufferOk(timestamp, &msg_map_tem, &msg_list_tem,
                           timeout_s * 100)) {
    return false;
  }
 
  auto found_iter = msg_map_tem.find(timestamp);
  if (found_iter != msg_map_tem.end()) {
    *msg = found_iter->second->second;
    return true;
  }
 
  ListIterator begin_iter = msg_list_tem.begin();
  if (begin_iter->first > timestamp) {
    return false;
  }
 
  ListIterator after_iter;
  ListIterator before_iter;
  for (ListIterator iter = msg_list_tem.end(); iter != msg_list_tem.begin();) {
    --iter;
    if (iter->first > timestamp) {
      after_iter = iter;
    } else {
      before_iter = iter;
 
      double delta_time = after_iter->first - before_iter->first;
      // if (delete_time > 0.1) {
      //     return false;
      // }
      if (std::abs(delta_time) < 1e-9) {
        AERROR << "Delta_time is too small.";
        return false;
      }
      double scale = (timestamp - before_iter->first) / delta_time;
      *msg = before_iter->second.interpolate(scale, after_iter->second);
      msg->timestamp = timestamp;
      break;
    }
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/localization/msf/local_tool/local_visualization/engine/visualization_manager.h
• modules/localization/msf/local_tool/local_visualization/engine/visualization_manager.cc