apollo::localization::msf::pyramid_map::MapNodeIndex类 参考

#include <base_map_node_index.h>

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

Public 成员函数
	MapNodeIndex ()
	The constructor.
bool	operator< (const MapNodeIndex &index) const
	Overload the less than operator.
bool	operator== (const MapNodeIndex &index) const
	Overload the equal operator.
bool	operator!= (const MapNodeIndex &index) const
	Overload the unequal operator.
std::string	ToString () const

静态 Public 成员函数
static MapNodeIndex	GetMapNodeIndex (const BaseMapConfig &option, const Eigen::Vector3d &coordinate, unsigned int resolution_id, int zone_id)
	Construct a map node index, given a global coordinate, eigen version.
static MapNodeIndex	GetMapNodeIndex (const BaseMapConfig &option, const Eigen::Vector2d &coordinate, unsigned int resolution_id, int zone_id)
static unsigned int	GetMapIndexRangeEast (const BaseMapConfig &option, unsigned int resolution_id)
	Get the index range (maximum possible index + 1) in the east direction.
static unsigned int	GetMapIndexRangeNorth (const BaseMapConfig &option, unsigned int resolution_id)
	Get the index range (maximum possible index + 1) in the north direction.

Public 属性
unsigned int	resolution_id_ = 0
	The ID of the resolution.
int	zone_id_ = 10
	The zone ID.
unsigned int	m_ = 0
	The map node ID at the northing direction.
unsigned int	n_ = 0
	The map node ID at the easting direction.

友元
std::ostream &	operator<< (std::ostream &cout, const MapNodeIndex &index)

详细描述

在文件 base_map_node_index.h 第 33 行定义.

构造及析构函数说明

MapNodeIndex()

apollo::localization::msf::pyramid_map::MapNodeIndex::MapNodeIndex

(

)

The constructor.

在文件 base_map_node_index.cc 第 28 行定义.

                           {
  resolution_id_ = 0;
  zone_id_ = 50;
  m_ = 0;
  n_ = 0;
}

成员函数说明

GetMapIndexRangeEast()

unsigned int apollo::localization::msf::pyramid_map::MapNodeIndex::GetMapIndexRangeEast ( const BaseMapConfig &  option, unsigned int  resolution_id  )

static

Get the index range (maximum possible index + 1) in the east direction.

在文件 base_map_node_index.cc 第 95 行定义.

                                                                            {
  return static_cast<unsigned int>(
      (option.map_range_.GetMaxX() - option.map_range_.GetMinX()) /
      (static_cast<float>(option.map_node_size_x_) *
       option.map_resolutions_[resolution_id]));
}

GetMapIndexRangeNorth()

unsigned int apollo::localization::msf::pyramid_map::MapNodeIndex::GetMapIndexRangeNorth ( const BaseMapConfig &  option, unsigned int  resolution_id  )

static

Get the index range (maximum possible index + 1) in the north direction.

在文件 base_map_node_index.cc 第 103 行定义.

                                                                             {
  return static_cast<unsigned int>(
      (option.map_range_.GetMaxY() - option.map_range_.GetMinY()) /
      (static_cast<float>(option.map_node_size_y_) *
       option.map_resolutions_[resolution_id]));
}

GetMapNodeIndex() [1/2]

MapNodeIndex apollo::localization::msf::pyramid_map::MapNodeIndex::GetMapNodeIndex ( const BaseMapConfig &  option, const Eigen::Vector2d &  coordinate, unsigned int  resolution_id, int  zone_id  )

static

在文件 base_map_node_index.cc 第 67 行定义.

                                                        {
  // assert(resolution_id < option.map_resolutions_.size());
  MapNodeIndex index;
  index.resolution_id_ = resolution_id;
  index.zone_id_ = zone_id;
  unsigned int n =
      static_cast<int>((coordinate[0] - option.map_range_.GetMinX()) /
                       (static_cast<float>(option.map_node_size_x_) *
                        option.map_resolutions_[resolution_id]));
  unsigned int m =
      static_cast<int>((coordinate[1] - option.map_range_.GetMinY()) /
                       (static_cast<float>(option.map_node_size_y_) *
                        option.map_resolutions_[resolution_id]));
  if (n < GetMapIndexRangeEast(option, resolution_id) &&
      m < GetMapIndexRangeNorth(option, resolution_id)) {
    index.m_ = m;
    index.n_ = n;
  } else {
    std::cerr << "MapNodeIndex::get_map_node_index illegal n: " << n
              << ",m: " << m << std::endl;
    // assert(0 == 1); // should never reach here
  }
  return index;
}

GetMapNodeIndex() [2/2]

MapNodeIndex apollo::localization::msf::pyramid_map::MapNodeIndex::GetMapNodeIndex ( const BaseMapConfig &  option, const Eigen::Vector3d &  coordinate, unsigned int  resolution_id, int  zone_id  )

static

Construct a map node index, given a global coordinate, eigen version.

在文件 base_map_node_index.cc 第 59 行定义.

                                                        {
  Vector2d coord2d(coordinate[0], coordinate[1]);
  return GetMapNodeIndex(option, coord2d, resolution_id, zone_id);
}

operator!=()

bool apollo::localization::msf::pyramid_map::MapNodeIndex::operator!=

(

const MapNodeIndex &

index

)

const

Overload the unequal operator.

在文件 base_map_node_index.cc 第 47 行定义.

                                                             {
  return !(*this == index);
}

operator<()

bool apollo::localization::msf::pyramid_map::MapNodeIndex::operator<

(

const MapNodeIndex &

index

)

const

Overload the less than operator.

在文件 base_map_node_index.cc 第 35 行定义.

                                                            {
  // Compare elements by priority.
  return std::forward_as_tuple(resolution_id_, zone_id_, m_, n_) <
         std::forward_as_tuple(index.resolution_id_, index.zone_id_, index.m_,
                               index.n_);
}

operator==()

bool apollo::localization::msf::pyramid_map::MapNodeIndex::operator==

(

const MapNodeIndex &

index

)

const

Overload the equal operator.

在文件 base_map_node_index.cc 第 42 行定义.

                                                             {
  return resolution_id_ == index.resolution_id_ && zone_id_ == index.zone_id_ &&
         m_ == index.m_ && n_ == index.n_;
}

ToString()

std::string apollo::localization::msf::pyramid_map::MapNodeIndex::ToString

(

)

const

在文件 base_map_node_index.cc 第 51 行定义.

                                       {
  std::ostringstream ss;
  ss << "Map node (Resolution ID: " << resolution_id_
     << " Zone ID: " << zone_id_ << " Easting: " << n_ << " Northing: " << m_
     << ")";
  return ss.str();
}

友元及相关函数文档

operator<<

std::ostream & operator<< ( std::ostream &  cout, const MapNodeIndex &  index  )

friend

在文件 base_map_node_index.cc 第 111 行定义.

                                                                    {
  cerr << index.ToString();
  return cerr;
}

类成员变量说明

m_

unsigned int apollo::localization::msf::pyramid_map::MapNodeIndex::m_ = 0

The map node ID at the northing direction.

在文件 base_map_node_index.h 第 73 行定义.

n_

unsigned int apollo::localization::msf::pyramid_map::MapNodeIndex::n_ = 0

The map node ID at the easting direction.

在文件 base_map_node_index.h 第 75 行定义.

resolution_id_

unsigned int apollo::localization::msf::pyramid_map::MapNodeIndex::resolution_id_ = 0

The ID of the resolution.

Should be less than BaseMapConfig::_map_resolutions.size().

在文件 base_map_node_index.h 第 68 行定义.

zone_id_

int apollo::localization::msf::pyramid_map::MapNodeIndex::zone_id_ = 10

The zone ID.

1 - 60 and -1 - -60. The positive value is the zone at the north hemisphere.

在文件 base_map_node_index.h 第 71 行定义.

---

该类的文档由以下文件生成:

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