#include <online_localization_expert.h>

apollo::localization::msf::OnlineLocalizationExpert 的协作图:

Public 成员函数
	OnlineLocalizationExpert ()=default

	~OnlineLocalizationExpert ()=default

bool	Init (const LocalizationIntegParam &param)

void	AddImu (const ImuData &data)

void	AddFusionLocalization (const LocalizationEstimate &data)

void	AddLidarLocalization (const LocalizationEstimate &data)

void	AddGnssBestPose (const drivers::gnss::GnssBestPose &msg, const MeasureData &data)

void	GetFusionStatus (MsfStatus msf_status, MsfSensorMsgStatus sensor_status, LocalizationIntegStatus *integstatus)

void	GetGnssStatus (MsfStatus *msf_status)

详细描述

在文件 online_localization_expert.h 第 33 行定义.

构造及析构函数说明

◆ OnlineLocalizationExpert()

apollo::localization::msf::OnlineLocalizationExpert::OnlineLocalizationExpert ( )

default

◆ ~OnlineLocalizationExpert()

apollo::localization::msf::OnlineLocalizationExpert::~OnlineLocalizationExpert ( )

default

成员函数说明

◆ AddFusionLocalization()

void apollo::localization::msf::OnlineLocalizationExpert::AddFusionLocalization ( const LocalizationEstimate & data )

在文件 online_localization_expert.cc 第 62 行定义.

                                      {
  SetLocalizationStatus(data);
}

◆ AddGnssBestPose()

void apollo::localization::msf::OnlineLocalizationExpert::AddGnssBestPose	(	const drivers::gnss::GnssBestPose &	msg,
		const MeasureData &	data
	)

在文件 online_localization_expert.cc 第 78 行定义.

                                                                 {
  int gnss_solution_status = static_cast<int>(msg.sol_status());
  int gnss_position_type = static_cast<int>(msg.sol_type());
 
  int gnss_status = 0;
  if (gnss_solution_status != 0) {
    gnss_status = 93;
  } else {
    gnss_status = gnss_position_type;
  }
 
  msf_status_mutex_.lock();
  msf_status_.set_gnsspos_position_type(
      static_cast<apollo::localization::GnssPositionType>(gnss_status));
  msf_status_mutex_.unlock();
 
  latest_gnsspos_timestamp_mutex_.lock();
  latest_gnsspos_timestamp_ = data.time;
  latest_gnsspos_timestamp_mutex_.unlock();
}

◆ AddImu()

void apollo::localization::msf::OnlineLocalizationExpert::AddImu ( const ImuData & data )

在文件 online_localization_expert.cc 第 55 行定义.

                                                         {
  double cur_imu_time = data.measurement_time;
  CheckImuDelayStatus(cur_imu_time);
  CheckImuMissingStatus(cur_imu_time);
  CheckGnssLidarMsfStatus(cur_imu_time);
}

◆ AddLidarLocalization()

void apollo::localization::msf::OnlineLocalizationExpert::AddLidarLocalization ( const LocalizationEstimate & data )

在文件 online_localization_expert.cc 第 67 行定义.

                                      {
  msf_status_mutex_.lock();
  msf_status_.set_local_lidar_status(data.msf_status().local_lidar_status());
  msf_status_.set_local_lidar_quality(data.msf_status().local_lidar_quality());
  msf_status_mutex_.unlock();
  latest_lidar_timestamp_mutex_.lock();
  latest_lidar_timestamp_ = data.measurement_time();
  latest_lidar_timestamp_mutex_.unlock();
}

◆ GetFusionStatus()

void apollo::localization::msf::OnlineLocalizationExpert::GetFusionStatus	(	MsfStatus *	msf_status,
		MsfSensorMsgStatus *	sensor_status,
		LocalizationIntegStatus *	integstatus
	)

在文件 online_localization_expert.cc 第 427 行定义.

                                           {
  {
    std::unique_lock<std::mutex> lock(msf_status_mutex_);
    msf_status->set_local_lidar_consistency(
        msf_status_.local_lidar_consistency());
    msf_status->set_gnss_consistency(msf_status_.gnss_consistency());
    msf_status->set_local_lidar_status(msf_status_.local_lidar_status());
    msf_status->set_gnsspos_position_type(msf_status_.gnsspos_position_type());
    msf_status->set_msf_running_status(msf_status_.msf_running_status());
    msf_status->set_local_lidar_quality(msf_status_.local_lidar_quality());
  }
 
  sensor_status->set_imu_delay_status(sensor_status_.imu_delay_status());
  sensor_status->set_imu_missing_status(sensor_status_.imu_missing_status());
  sensor_status->set_imu_data_status(sensor_status_.imu_data_status());
 
  *integ_status = integ_status_;
}

◆ GetGnssStatus()

void apollo::localization::msf::OnlineLocalizationExpert::GetGnssStatus ( MsfStatus * msf_status )

在文件 online_localization_expert.cc 第 448 行定义.

                                                                  {
  std::unique_lock<std::mutex> lock(msf_status_mutex_);
  msf_status->set_gnsspos_position_type(msf_status_.gnsspos_position_type());
}

◆ Init()

bool apollo::localization::msf::OnlineLocalizationExpert::Init ( const LocalizationIntegParam & param )

在文件 online_localization_expert.cc 第 27 行定义.

                                                                       {
  msf_status_.set_local_lidar_consistency(MSF_LOCAL_LIDAR_CONSISTENCY_03);
  msf_status_.set_gnss_consistency(MSF_GNSS_CONSISTENCY_03);
  msf_status_.set_local_lidar_status(MSF_LOCAL_LIDAR_UNDEFINED_STATUS);
  msf_status_.set_gnsspos_position_type(NONE);
  msf_status_.set_msf_running_status(MSF_RUNNING_INIT);
  msf_status_.set_local_lidar_quality(MSF_LOCAL_LIDAR_BAD);
 
  imu_delay_time_threshold_1_ = param.imu_delay_time_threshold_1;
  imu_delay_time_threshold_2_ = param.imu_delay_time_threshold_2;
  imu_delay_time_threshold_3_ = param.imu_delay_time_threshold_3;
 
  imu_missing_time_threshold_1_ = param.imu_missing_time_threshold_1;
  imu_missing_time_threshold_2_ = param.imu_missing_time_threshold_2;
  imu_missing_time_threshold_3_ = param.imu_missing_time_threshold_3;
 
  bestgnsspose_loss_time_threshold_ = param.bestgnsspose_loss_time_threshold;
  lidar_loss_time_threshold_ = param.lidar_loss_time_threshold;
 
  localization_std_x_threshold_1_ = param.localization_std_x_threshold_1;
  localization_std_y_threshold_1_ = param.localization_std_y_threshold_1;
 
  localization_std_x_threshold_2_ = param.localization_std_x_threshold_2;
  localization_std_y_threshold_2_ = param.localization_std_y_threshold_2;
 
  return true;
}

该类的文档由以下文件生成:

modules/localization/msf/local_integ/online_localization_expert.h
modules/localization/msf/local_integ/online_localization_expert.cc

Public 成员函数