interface of msf localization 更多...

#include <localization_integ.h>

apollo::localization::msf::LocalizationInteg 的协作图:

Public 成员函数
	LocalizationInteg ()

	~LocalizationInteg ()

common::Status	Init (const LocalizationIntegParam &params)

void	PcdProcess (const drivers::PointCloud &message)

void	RawImuProcessFlu (const drivers::gnss::Imu &imu_msg)

void	RawImuProcessRfu (const drivers::gnss::Imu &imu_msg)

void	RawObservationProcess (const drivers::gnss::EpochObservation &raw_obs_msg)

void	RawEphemerisProcess (const drivers::gnss::GnssEphemeris &gnss_orbit_msg)

void	GnssBestPoseProcess (const drivers::gnss::GnssBestPose &bestgnsspos_msg)

void	GnssHeadingProcess (const drivers::gnss::Heading &gnss_heading_msg)

const LocalizationResult &	GetLastestLidarLocalization () const

const LocalizationResult &	GetLastestIntegLocalization () const

const LocalizationResult &	GetLastestGnssLocalization () const

Protected 成员函数
void	TransferImuFlu (const drivers::gnss::Imu &imu_msg, ImuData *imu_data)

void	TransferImuRfu (const drivers::gnss::Imu &imu_msg, ImuData *imu_rfu)

详细描述

interface of msf localization

在文件 localization_integ.h 第 52 行定义.

构造及析构函数说明

◆ LocalizationInteg()

apollo::localization::msf::LocalizationInteg::LocalizationInteg ( )

在文件 localization_integ.cc 第 31 行定义.

32 : localization_integ_impl_(new LocalizationIntegImpl()) {}

◆ ~LocalizationInteg()

apollo::localization::msf::LocalizationInteg::~LocalizationInteg ( )

在文件 localization_integ.cc 第 34 行定义.

                                      {
  delete localization_integ_impl_;
  localization_integ_impl_ = nullptr;
}

成员函数说明

◆ GetLastestGnssLocalization()

const LocalizationResult & apollo::localization::msf::LocalizationInteg::GetLastestGnssLocalization ( ) const

在文件 localization_integ.cc 第 92 行定义.

          {
  return localization_integ_impl_->GetLastestGnssLocalization();
}

◆ GetLastestIntegLocalization()

const LocalizationResult & apollo::localization::msf::LocalizationInteg::GetLastestIntegLocalization ( ) const

在文件 localization_integ.cc 第 87 行定义.

          {
  return localization_integ_impl_->GetLastestIntegLocalization();
}

◆ GetLastestLidarLocalization()

const LocalizationResult & apollo::localization::msf::LocalizationInteg::GetLastestLidarLocalization ( ) const

在文件 localization_integ.cc 第 82 行定义.

          {
  return localization_integ_impl_->GetLastestLidarLocalization();
}

◆ GnssBestPoseProcess()

void apollo::localization::msf::LocalizationInteg::GnssBestPoseProcess ( const drivers::gnss::GnssBestPose & bestgnsspos_msg )

在文件 localization_integ.cc 第 72 行定义.

                                                    {
  localization_integ_impl_->GnssBestPoseProcess(bestgnsspos_msg);
}

◆ GnssHeadingProcess()

void apollo::localization::msf::LocalizationInteg::GnssHeadingProcess ( const drivers::gnss::Heading & gnss_heading_msg )

在文件 localization_integ.cc 第 77 行定义.

                                               {
  localization_integ_impl_->GnssHeadingProcess(gnssheading_msg);
}

◆ Init()

Status apollo::localization::msf::LocalizationInteg::Init ( const LocalizationIntegParam & params )

在文件 localization_integ.cc 第 39 行定义.

                                                                   {
  return localization_integ_impl_->Init(params);
}

◆ PcdProcess()

void apollo::localization::msf::LocalizationInteg::PcdProcess ( const drivers::PointCloud & message )

在文件 localization_integ.cc 第 43 行定义.

                                                                   {
  LidarFrame lidar_frame;
  LidarMsgTransfer transfer;
  transfer.Transfer(message, &lidar_frame);
  localization_integ_impl_->PcdProcess(lidar_frame);
}

◆ RawEphemerisProcess()

void apollo::localization::msf::LocalizationInteg::RawEphemerisProcess ( const drivers::gnss::GnssEphemeris & gnss_orbit_msg )

在文件 localization_integ.cc 第 67 行定义.

                                                    {
  localization_integ_impl_->RawEphemerisProcess(gnss_orbit_msg);
}

◆ RawImuProcessFlu()

void apollo::localization::msf::LocalizationInteg::RawImuProcessFlu ( const drivers::gnss::Imu & imu_msg )

在文件 localization_integ.cc 第 50 行定义.

                                                                      {
  ImuData imu;
  TransferImuFlu(imu_msg, &imu);
  localization_integ_impl_->RawImuProcessRfu(imu);
}

◆ RawImuProcessRfu()

void apollo::localization::msf::LocalizationInteg::RawImuProcessRfu ( const drivers::gnss::Imu & imu_msg )

在文件 localization_integ.cc 第 56 行定义.

                                                                      {
  ImuData imu;
  TransferImuRfu(imu_msg, &imu);
  localization_integ_impl_->RawImuProcessRfu(imu);
}

◆ RawObservationProcess()

void apollo::localization::msf::LocalizationInteg::RawObservationProcess ( const drivers::gnss::EpochObservation & raw_obs_msg )

在文件 localization_integ.cc 第 62 行定义.

                                                    {
  localization_integ_impl_->RawObservationProcess(raw_obs_msg);
}

◆ TransferImuFlu()

void apollo::localization::msf::LocalizationInteg::TransferImuFlu	(	const drivers::gnss::Imu &	imu_msg,
		ImuData *	imu_data
	)

protected

在文件 localization_integ.cc 第 112 行定义.

                                                         {
  CHECK_NOTNULL(imu_flu);
 
  double measurement_time = TimeUtil::Gps2Unix(imu_msg.measurement_time());
  imu_flu->measurement_time = measurement_time;
  imu_flu->fb[0] = -imu_msg.linear_acceleration().y() * FLAGS_imu_rate;
  imu_flu->fb[1] = imu_msg.linear_acceleration().x() * FLAGS_imu_rate;
  imu_flu->fb[2] = imu_msg.linear_acceleration().z() * FLAGS_imu_rate;
 
  imu_flu->wibb[0] = -imu_msg.angular_velocity().y() * FLAGS_imu_rate;
  imu_flu->wibb[1] = imu_msg.angular_velocity().x() * FLAGS_imu_rate;
  imu_flu->wibb[2] = imu_msg.angular_velocity().z() * FLAGS_imu_rate;
}

◆ TransferImuRfu()

void apollo::localization::msf::LocalizationInteg::TransferImuRfu	(	const drivers::gnss::Imu &	imu_msg,
		ImuData *	imu_rfu
	)