apollo::localization::msf::NdtMap类 参考

#include <ndt_map.h>

类 apollo::localization::msf::NdtMap 继承关系图:

apollo::localization::msf::NdtMap 的协作图:

Public 成员函数
	NdtMap (NdtMapConfig *config)
	~NdtMap ()
virtual void	PreloadMapArea (const Eigen::Vector3d &location, const Eigen::Vector3d &trans_diff, unsigned int resolution_id, unsigned int zone_id)
	Preload map nodes for the next frame location calculation.
virtual bool	LoadMapArea (const Eigen::Vector3d &seed_pt3d, unsigned int resolution_id, unsigned int zone_id, int filter_size_x, int filter_size_y)
	Load map nodes for the location calculate of this frame.
Public 成员函数 继承自 apollo::localization::msf::BaseMap
	BaseMap (BaseMapConfig *map_config)
	The constructor.
virtual	~BaseMap ()
	The destructor.
virtual void	InitMapNodeCaches (int cacheL1_size, int cahceL2_size)
	Init load threadpool and preload threadpool.
BaseMapNode *	GetMapNode (const MapNodeIndex &index)
	Get the map node, if it's not in the cache, return false.
BaseMapNode *	GetMapNodeSafe (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, safely load it.
bool	IsMapNodeExist (const MapNodeIndex &index) const
	Check if the map node in the cache.
bool	SetMapFolderPath (const std::string folder_path)
	Set the directory of the map.
void	AddDataset (const std::string dataset_path)
	Add a dataset path to the map config.
void	AttachMapNodePool (BaseMapNodePool *p_map_node_pool)
	Attach map node pointer.
void	WriteBinary (FILE *file)
	Write all the map nodes to a single binary file stream.
void	LoadBinary (FILE *file, std::string map_folder_path="")
	Load all the map nodes from a single binary file stream.
const BaseMapConfig &	GetConfig () const
	Get the map config.
BaseMapConfig &	GetConfig ()
	Get the map config.

额外继承的成员函数
Protected 成员函数 继承自 apollo::localization::msf::BaseMap
void	LoadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index.
void	PreloadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index.
void	LoadMapNodeThreadSafety (MapNodeIndex index, bool is_reserved=false)
	Load map node by index, thread_safety.
Protected 属性 继承自 apollo::localization::msf::BaseMap
BaseMapConfig *	map_config_
	The map settings.
std::list< MapNodeIndex >	map_nodes_disk_
	All the map nodes in the Map (in the disk).
MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl1_
MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl2_
MapNodeCache< MapNodeIndex, BaseMapNode > *	map_node_cache_lvl1_
	The cache for map node preload.
MapNodeCache< MapNodeIndex, BaseMapNode > *	map_node_cache_lvl2_
	brief The dynamic map node preloading thread pool pointer.
BaseMapNodePool *	map_node_pool_
	The map node memory pool pointer.
std::set< MapNodeIndex >	map_preloading_task_index_
	@bried Keep the index of preloading nodes.
boost::recursive_mutex	map_load_mutex_
	The mutex for preload map node.

详细描述

在文件 ndt_map.h 第 28 行定义.

构造及析构函数说明

NdtMap()

apollo::localization::msf::NdtMap::NdtMap ( NdtMapConfig *  config )

explicit

在文件 ndt_map.cc 第 23 行定义.

: BaseMap(config) {}

~NdtMap()

apollo::localization::msf::NdtMap::~NdtMap

(

)

在文件 ndt_map.cc 第 25 行定义.

{}

成员函数说明

LoadMapArea()

bool apollo::localization::msf::NdtMap::LoadMapArea ( const Eigen::Vector3d &  seed_pt3d, unsigned int  resolution_id, unsigned int  zone_id, int  filter_size_x, int  filter_size_y  )

virtual

Load map nodes for the location calculate of this frame.

If the forecasts are correct in last frame, these nodes will be all in cache, if not, then need to create loading tasks, and wait for the loading finish, in order to the nodes which the following calculate needed are all in the memory.

重载 apollo::localization::msf::BaseMap .

在文件 ndt_map.cc 第 33 行定义.

                                                               {
  BaseMap::LoadMapArea(seed_pt3d, resolution_id, zone_id, filter_size_x,
                       filter_size_y);
  return true;
}

PreloadMapArea()

void apollo::localization::msf::NdtMap::PreloadMapArea ( const Eigen::Vector3d &  location, const Eigen::Vector3d &  trans_diff, unsigned int  resolution_id, unsigned int  zone_id  )

virtual

Preload map nodes for the next frame location calculation.

It will forecasts the nodes by the direction of the car moving. Because the progress of loading will cost a long time (over 100ms), it must do this for a period of time in advance. After the index of nodes calculate finished, it will create loading tasks, but will not wait for the loading finished.

重载 apollo::localization::msf::BaseMap .

在文件 ndt_map.cc 第 27 行定义.

                                                                              {
  BaseMap::PreloadMapArea(location, trans_diff, resolution_id, zone_id);
}

---

该类的文档由以下文件生成:

• modules/localization/msf/local_map/ndt_map/ndt_map.h
• modules/localization/msf/local_map/ndt_map/ndt_map.cc