apollo::localization::msf::pyramid_map::BaseMapNodeConfig类 参考

The map node config info. 更多...

#include <base_map_node_config.h>

类 apollo::localization::msf::pyramid_map::BaseMapNodeConfig 继承关系图:

apollo::localization::msf::pyramid_map::BaseMapNodeConfig 的协作图:

Public 成员函数
	BaseMapNodeConfig ()
virtual	~BaseMapNodeConfig ()
virtual std::shared_ptr< BaseMapNodeConfig >	Clone ()
	Alloc a new map node config.
virtual unsigned int	LoadBinary (const unsigned char *buf)
	Load the map node config from a binary chunk.
virtual unsigned int	CreateBinary (unsigned char *buf, size_t buf_size) const
	Create the binary map node config.
virtual unsigned int	GetBinarySize () const
	Get the size of the config in bytes.

Public 属性
MapNodeIndex	node_index_
MapVersion	map_version_ = MapVersion::UNKNOWN
unsigned char	body_md5_ [MD5LENTH] = {0}
size_t	body_size_ = 0
bool	has_map_version_ = true
bool	has_body_md5_ = true

详细描述

The map node config info.

在文件 base_map_node_config.h 第 31 行定义.

构造及析构函数说明

BaseMapNodeConfig()

apollo::localization::msf::pyramid_map::BaseMapNodeConfig::BaseMapNodeConfig

(

)

在文件 base_map_node_config.cc 第 26 行定义.

{}

~BaseMapNodeConfig()

apollo::localization::msf::pyramid_map::BaseMapNodeConfig::~BaseMapNodeConfig ( )

virtual

在文件 base_map_node_config.cc 第 28 行定义.

{}

成员函数说明

Clone()

std::shared_ptr< BaseMapNodeConfig > apollo::localization::msf::pyramid_map::BaseMapNodeConfig::Clone ( )

virtual

Alloc a new map node config.

Clone a new map node config.

被 apollo::localization::msf::pyramid_map::NdtMapNodeConfig , 以及 apollo::localization::msf::pyramid_map::PyramidMapNodeConfig 重载.

在文件 base_map_node_config.cc 第 30 行定义.

                                                          {
  std::shared_ptr<BaseMapNodeConfig> map_node_config(new BaseMapNodeConfig());
  map_node_config->node_index_ = node_index_;
  map_node_config->map_version_ = map_version_;
  memcpy(map_node_config->body_md5_, body_md5_, sizeof(body_md5_));
  map_node_config->body_size_ = body_size_;
  map_node_config->has_map_version_ = has_map_version_;
  map_node_config->has_body_md5_ = has_body_md5_;
 
  return map_node_config;
}

CreateBinary()

unsigned int apollo::localization::msf::pyramid_map::BaseMapNodeConfig::CreateBinary ( unsigned char *  buf, size_t  buf_size  ) const

virtual

Create the binary map node config.

参数

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size.

在文件 base_map_node_config.cc 第 88 行定义.

                                                                    {
  unsigned int target_size = GetBinarySize();
 
  if (buf_size < target_size) {
    return 0;
  }
 
  // map_version
  uint16_t *us_p = reinterpret_cast<uint16_t *>(buf);
  if (has_map_version_) {
    *us_p = static_cast<uint16_t>(map_version_);
    ++us_p;
  }
 
  // body_md5
  unsigned char *uc_p = reinterpret_cast<unsigned char *>(us_p);
  if (has_body_md5_) {
    memcpy(uc_p, body_md5_, sizeof(body_md5_));
    uc_p += MD5LENTH;
  }
 
  // node_index._resolution_id
  unsigned int *ui_p = reinterpret_cast<unsigned int *>(us_p);
  *ui_p = node_index_.resolution_id_;
  ++ui_p;
 
  // node_index._zone_id
  int *int_p = reinterpret_cast<int *>(ui_p);
  *int_p = node_index_.zone_id_;
  ++int_p;
 
  // node_index._m
  ui_p = reinterpret_cast<unsigned int *>(int_p);
  *ui_p = node_index_.m_;
  ++ui_p;
 
  // node_index._n
  *ui_p = node_index_.n_;
  ++ui_p;
 
  // the body size
  *ui_p = static_cast<unsigned int>(body_size_);
 
  return target_size;
}

GetBinarySize()

unsigned int apollo::localization::msf::pyramid_map::BaseMapNodeConfig::GetBinarySize ( ) const

virtual

Get the size of the config in bytes.

在文件 base_map_node_config.cc 第 135 行定义.

                                                    {
  size_t binary_size = 0;
 
  // map_version
  if (has_map_version_) {
    binary_size += sizeof(uint16_t);
  }
 
  // body_md5
  if (has_body_md5_) {
    binary_size += sizeof(body_md5_);
  }
 
  // node_index._resolution_id
  // node_index._zone_id
  // node_index._m
  // node_index._n
  binary_size += sizeof(unsigned int) + sizeof(int) + sizeof(unsigned int) +
                 sizeof(unsigned int);
 
  // the body size
  binary_size += sizeof(unsigned int);
  return static_cast<unsigned int>(binary_size);
}

LoadBinary()

unsigned int apollo::localization::msf::pyramid_map::BaseMapNodeConfig::LoadBinary ( const unsigned char *  buf )

virtual

Load the map node config from a binary chunk.

参数

<return>

The size read (the real size of config).

在文件 base_map_node_config.cc 第 42 行定义.

                                                                   {
  size_t binary_size = 0;
 
  // map_version
  const uint16_t *us_p = reinterpret_cast<const uint16_t *>(buf);
  if (has_map_version_) {
    binary_size += sizeof(uint16_t);
    map_version_ = static_cast<MapVersion>(*us_p);
    ++us_p;
  }
 
  // body_md5
  const unsigned char *uc_p = reinterpret_cast<const unsigned char *>(us_p);
  if (has_body_md5_) {
    binary_size += sizeof(body_md5_);
    memcpy(body_md5_, uc_p, sizeof(body_md5_));
    uc_p += MD5LENTH;
  }
 
  binary_size += sizeof(unsigned int) + sizeof(int) + sizeof(unsigned int) +
                 sizeof(unsigned int) + sizeof(unsigned int);
  // node_index._resolution_id
  const unsigned int *ui_p = reinterpret_cast<const unsigned int *>(us_p);
  node_index_.resolution_id_ = *ui_p;
  ++ui_p;
 
  // node_index._zone_id
  const int *int_p = reinterpret_cast<const int *>(ui_p);
  node_index_.zone_id_ = *int_p;
  ++int_p;
 
  // node_index._m
  ui_p = reinterpret_cast<const unsigned int *>(int_p);
  node_index_.m_ = *ui_p;
  ++ui_p;
 
  // node_index._n
  node_index_.n_ = *ui_p;
  ++ui_p;
 
  // the body size
  body_size_ = *ui_p;
 
  return static_cast<unsigned int>(binary_size);
}

类成员变量说明

body_md5_

unsigned char apollo::localization::msf::pyramid_map::BaseMapNodeConfig::body_md5_[MD5LENTH] = {0}

在文件 base_map_node_config.h 第 55 行定义.

{0};

body_size_

size_t apollo::localization::msf::pyramid_map::BaseMapNodeConfig::body_size_ = 0

在文件 base_map_node_config.h 第 56 行定义.

has_body_md5_

bool apollo::localization::msf::pyramid_map::BaseMapNodeConfig::has_body_md5_ = true

在文件 base_map_node_config.h 第 58 行定义.

has_map_version_

bool apollo::localization::msf::pyramid_map::BaseMapNodeConfig::has_map_version_ = true

在文件 base_map_node_config.h 第 57 行定义.

map_version_

MapVersion apollo::localization::msf::pyramid_map::BaseMapNodeConfig::map_version_ = MapVersion::UNKNOWN

在文件 base_map_node_config.h 第 54 行定义.

node_index_

MapNodeIndex apollo::localization::msf::pyramid_map::BaseMapNodeConfig::node_index_

在文件 base_map_node_config.h 第 53 行定义.

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该类的文档由以下文件生成:

• modules/localization/msf/local_pyramid_map/base_map/base_map_node_config.h
• modules/localization/msf/local_pyramid_map/base_map/base_map_node_config.cc