apollo::localization::msf::pyramid_map::LossyMapMatrixHandler类 参考

#include <pyramid_map_matrix_handler.h>

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

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

Public 成员函数
	LossyMapMatrixHandler ()
virtual	~LossyMapMatrixHandler ()
Public 成员函数 继承自 apollo::localization::msf::pyramid_map::BaseMapMatrixHandler
	BaseMapMatrixHandler ()
virtual	~BaseMapMatrixHandler ()
virtual size_t	LoadBinary (const unsigned char *buf, std::shared_ptr< BaseMapMatrix > matrix)=0
	Load the map cell from a binary chunk.
virtual size_t	CreateBinary (const std::shared_ptr< BaseMapMatrix > matrix, unsigned char *buf, size_t buf_size)=0
	Create the binary.
virtual size_t	GetBinarySize (const std::shared_ptr< BaseMapMatrix > matrix)=0
	Get the binary size of the object.

Protected 成员函数
virtual unsigned char	EncodeIntensity (float intensity) const
virtual void	DecodeIntensity (unsigned char data, float *intensity) const
virtual uint16_t	EncodeIntensityVar (float var) const
virtual void	DecodeIntensityVar (uint16_t data, float *var) const
virtual uint16_t	EncodeAltitude (float altitude, float min_altitude, float altitude_interval) const
virtual void	DecodeAltitude (uint16_t data, float min_altitude, float altitude_interval, float *altitude) const
virtual unsigned char	EncodeCount (unsigned int count, unsigned int count_range) const
virtual void	DecodeCount (unsigned char data, unsigned int *count) const

Protected 属性
const unsigned int	var_range_ = 1023
const unsigned int	var_ratio_ = 4
const unsigned int	count_range_ = 2
const float	ground_alt_interval_ = 0.04f
const float	alt_avg_interval_ = 0.04f
float	alt_avg_min_ = 0.0f
float	ground_alt_min_ = 0.0f
float	alt_avg_max_ = 0.0f
float	ground_alt_max_ = 0.0f

详细描述

在文件 pyramid_map_matrix_handler.h 第 36 行定义.

构造及析构函数说明

LossyMapMatrixHandler()

apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::LossyMapMatrixHandler

(

)

在文件 pyramid_map_matrix_handler.cc 第 51 行定义.

{}

~LossyMapMatrixHandler()

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

virtual

在文件 pyramid_map_matrix_handler.cc 第 53 行定义.

{}

成员函数说明

DecodeAltitude()

void apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::DecodeAltitude ( uint16_t  data, float  min_altitude, float  altitude_interval, float *  altitude  ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 109 行定义.

                                                                  {
  *altitude = min_altitude + data * altitude_interval;
}

DecodeCount()

void apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::DecodeCount ( unsigned char  data, unsigned int *  count  ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 128 行定义.

                                                                   {
  if (data == 0) {
    *count = data;
  } else {
    *count = 1 << (data - 1);
  }
}

DecodeIntensity()

void apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::DecodeIntensity ( unsigned char  data, float *  intensity  ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 67 行定义.

                                                                    {
  *intensity = static_cast<float>(data);
}

DecodeIntensityVar()

void apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::DecodeIntensityVar ( uint16_t  data, float *  var  ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 86 行定义.

                                                                 {
  *var = static_cast<float>(data);
  *var = (static_cast<float>(var_range_) / (*var) - 1.0f) /
         static_cast<float>(var_ratio_);
  *var = (*var) * (*var);
}

EncodeAltitude()

uint16_t apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::EncodeAltitude ( float  altitude, float  min_altitude, float  altitude_interval  ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 94 行定义.

                                                                              {
  float delta_alt = altitude - min_altitude;
  delta_alt /= altitude_interval;
  int encoded_altitude = static_cast<int>(delta_alt + 0.5f);
  if (encoded_altitude > 0xffff) {
    encoded_altitude = 0xffff;
  }
  if (encoded_altitude < 0) {
    encoded_altitude = 0;
  }
  return static_cast<uint16_t>(encoded_altitude);
}

EncodeCount()

unsigned char apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::EncodeCount ( unsigned int  count, unsigned int  count_range  ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 115 行定义.

                                                        {
  unsigned int encoded_count = 0;
  while (count > 0) {
    ++encoded_count;
    count /= 2;
  }
  if (encoded_count > count_range) {
    encoded_count = count_range;
  }
  return static_cast<unsigned char>(encoded_count);
}

EncodeIntensity()

unsigned char apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::EncodeIntensity ( float  intensity ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 55 行定义.

                                                                          {
  unsigned char encoded_intensity = 0;
  if (intensity > 255) {
    encoded_intensity = 255;
  } else if (intensity < 0) {
    encoded_intensity = 0;
  } else {
    encoded_intensity = static_cast<unsigned char>(intensity);
  }
  return encoded_intensity;
}

EncodeIntensityVar()

uint16_t apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::EncodeIntensityVar ( float  var ) const

protectedvirtual

在文件 pyramid_map_matrix_handler.cc 第 72 行定义.

                                                                  {
  var = std::sqrt(var);
  unsigned int encoded_var =
      static_cast<unsigned int>(static_cast<float>(var_range_) /
                                (var * static_cast<float>(var_ratio_) + 1.0));
  if (encoded_var > var_range_) {
    encoded_var = var_range_;
  }
  if (encoded_var < 1) {
    encoded_var = 1;
  }
  return static_cast<uint16_t>(encoded_var);
}

类成员变量说明

alt_avg_interval_

const float apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::alt_avg_interval_ = 0.04f

protected

在文件 pyramid_map_matrix_handler.h 第 57 行定义.

alt_avg_max_

float apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::alt_avg_max_ = 0.0f

mutableprotected

在文件 pyramid_map_matrix_handler.h 第 60 行定义.

alt_avg_min_

float apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::alt_avg_min_ = 0.0f

mutableprotected

在文件 pyramid_map_matrix_handler.h 第 58 行定义.

count_range_

const unsigned int apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::count_range_ = 2

protected

在文件 pyramid_map_matrix_handler.h 第 55 行定义.

ground_alt_interval_

const float apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::ground_alt_interval_ = 0.04f

protected

在文件 pyramid_map_matrix_handler.h 第 56 行定义.

ground_alt_max_

float apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::ground_alt_max_ = 0.0f

mutableprotected

在文件 pyramid_map_matrix_handler.h 第 61 行定义.

ground_alt_min_

float apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::ground_alt_min_ = 0.0f

mutableprotected

在文件 pyramid_map_matrix_handler.h 第 59 行定义.

var_range_

const unsigned int apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::var_range_ = 1023

protected

在文件 pyramid_map_matrix_handler.h 第 53 行定义.

var_ratio_

const unsigned int apollo::localization::msf::pyramid_map::LossyMapMatrixHandler::var_ratio_ = 4

protected

在文件 pyramid_map_matrix_handler.h 第 54 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/pyramid_map/pyramid_map_matrix_handler.h
• modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_matrix_handler.cc