#include <ndt_map_node.h>

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

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

Public 成员函数
	NdtMapNode ()

	~NdtMapNode ()

void	Init (const BaseMapConfig *map_config)
	Initialize the map node.

void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)

float	GetMapResolutionZ () const
	Get the resolution of this map nodex.

Eigen::Vector3d	GetCoordinate3D (unsigned int x, unsigned int y, int altitude_index) const
	Given the local x, y, altitude index, return the global coordinate.

Eigen::Vector3d	GetCoordinateCenter3D (unsigned int x, unsigned int y, int altitude_index) const
	Given the local x, y, altitude index, return the global coordinate.

Public 成员函数继承自 apollo::localization::msf::pyramid_map::BaseMapNode
	BaseMapNode ()
	Construct a map node.

	BaseMapNode (BaseMapMatrix matrix, CompressionStrategy strategy)
	Construct a map node.

virtual	~BaseMapNode ()
	Destruct a map node.

virtual void	InitMapMatrix (const BaseMapConfig *map_config)
	Initialize the map matrix.

virtual void	Finalize ()
	call before deconstruction or reset.

virtual void	ResetMapNode ()
	Reset map cells data.

bool	Save ()
	Save the map node to the disk.

bool	SaveIntensityImage () const
	Save intensity image of node.

bool	SaveAltitudeImage () const
	Save altitude image of node.

bool	Load ()
	Load the map node from the disk.

bool	Load (const char *filename)

virtual bool	GetCoordinate (const Eigen::Vector2d &coordinate, unsigned int x, unsigned int y) const
	Given the global coordinate, get the local 2D coordinate of the map cell matrix.

virtual bool	GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int x, unsigned int y) const

virtual Eigen::Vector2d	GetCoordinate (unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate.

void	SetMapNodeIndex (const MapNodeIndex &index)
	Set the map node index.

bool	SaveIntensityImage (const std::string &path) const
	Save intensity image of node.

bool	SaveAltitudeImage (const std::string &path) const
	Save altitude image of node.

const BaseMapMatrix &	GetMapCellMatrix () const
	Get map cell matrix.

BaseMapMatrix &	GetMapCellMatrix ()

const BaseMapConfig &	GetMapConfig () const
	Get the map settings.

const BaseMapNodeConfig &	GetMapNodeConfig () const
	Get the map node config.

const MapNodeIndex &	GetMapNodeIndex () const
	Get the map node index.

void	SetIsReserved (bool is_reserved)
	Set if the map node is reserved.

bool	GetIsReserved () const
	Get if the map node is reserved.

bool	GetIsChanged () const
	Get if the map data has changed.

void	SetIsChanged (bool is)
	Set if the map node data has changed.

bool	GetIsReady () const
	Get if the map node data is ready

const Eigen::Vector2d &	GetLeftTopCorner () const

void	SetLeftTopCorner (double x, double y)
	Set the left top corner of the map node.

float	GetMapResolution () const
	Get the resolution of this map nodex.

静态 Public 成员函数
static void	Reduce (NdtMapNode *map_node, const NdtMapNode &map_node_new)
	Combine two map nodes (Reduce operation in mapreduce).

静态 Public 成员函数继承自 apollo::localization::msf::pyramid_map::BaseMapNode
static Eigen::Vector2d	ComputeLeftTopCorner (const BaseMapConfig &config, const MapNodeIndex &index)

static Eigen::Vector2d	GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index)

Public 属性
unsigned int	num_valid_cells_
	The number of cells with elements.

unsigned int	num_valid_single_cells_
	The number of single cells with elements.

额外继承的成员函数
Protected 成员函数继承自 apollo::localization::msf::pyramid_map::BaseMapNode
bool	CreateMapDirectory (const std::string &path) const
	Try to create the map directory.

bool	CreateMapDirectoryRecursively (const std::vector< std::string > &paths) const
	Try to create the map directory recursively.

bool	CheckMapDirectoryRecursively (const std::vector< std::string > &paths) const
	Try to check the map directory recursively.

virtual bool	LoadBinary (FILE *file)
	Load the map cell from a binary chunk.

virtual bool	CreateBinary (FILE *file) const
	Create the binary.

virtual size_t	GetBinarySize () const
	Get the binary size of the object.

virtual size_t	LoadHeaderBinary (const unsigned char *buf)
	Load the map node header from a binary chunk.

virtual size_t	CreateHeaderBinary (unsigned char *buf, size_t buf_size) const
	Create the binary header.

virtual size_t	GetHeaderBinarySize () const
	Get the size of the header in bytes.

virtual size_t	LoadBodyBinary (std::vector< unsigned char > *buf)
	Load the map node body from a binary chunk.

virtual size_t	CreateBodyBinary (std::vector< unsigned char > *buf) const
	Create the binary body.

virtual size_t	GetBodyBinarySize () const
	Get the size of the body in bytes.

Protected 属性继承自 apollo::localization::msf::pyramid_map::BaseMapNode
const BaseMapConfig *	map_config_ = nullptr
	The map settings.

MapNodeIndex	index_
	The index of this node

Eigen::Vector2d	left_top_corner_
	The left top corner of the map node in the global coordinate system.

std::shared_ptr< BaseMapNodeConfig >	map_node_config_ = nullptr
	The map node config.

std::shared_ptr< BaseMapMatrix >	map_matrix_ = nullptr
	The data structure of the map datas, which is a matrix.

std::shared_ptr< BaseMapMatrixHandler >	map_matrix_handler_ = nullptr
	The class to load and create map matrix binary.

bool	is_reserved_ = false
	If the node is reserved in map.

bool	is_changed_ = false
	Has the map node been changed.

bool	data_is_ready_ = false

size_t	file_body_binary_size_ = 0
	The body binary size in file.

size_t	uncompressed_file_body_size_ = 0

std::shared_ptr< CompressionStrategy >	compression_strategy_ = nullptr
	@bried The compression strategy.

详细描述

在文件 ndt_map_node.h 第 31 行定义.

构造及析构函数说明

◆ NdtMapNode()

apollo::localization::msf::pyramid_map::NdtMapNode::NdtMapNode ( )

在文件 ndt_map_node.cc 第 27 行定义.

27{}

◆ ~NdtMapNode()

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

在文件 ndt_map_node.cc 第 28 行定义.

28{}

成员函数说明

◆ GetCoordinate3D()

Eigen::Vector3d apollo::localization::msf::pyramid_map::NdtMapNode::GetCoordinate3D	(	unsigned int	x,
		unsigned int	y,
		int	altitude_index
	)		const

Given the local x, y, altitude index, return the global coordinate.

在文件 ndt_map_node.cc 第 75 行定义.

                                                                      {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  Eigen::Vector2d coord_2d;
  coord_2d[0] =
      left_top_corner[0] + (static_cast<double>(x)) * GetMapResolution();
  coord_2d[1] =
      left_top_corner[1] + (static_cast<double>(y)) * GetMapResolution();
 
  double altitude =
      NdtMapCells::CalAltitude(GetMapResolutionZ(), altitude_index);
  Eigen::Vector3d coord_3d;
  coord_3d[0] = coord_2d[0];
  coord_3d[1] = coord_2d[1];
  coord_3d[2] = altitude;
 
  return coord_3d;
}

◆ GetCoordinateCenter3D()

Eigen::Vector3d apollo::localization::msf::pyramid_map::NdtMapNode::GetCoordinateCenter3D	(	unsigned int	x,
		unsigned int	y,
		int	altitude_index
	)		const

Given the local x, y, altitude index, return the global coordinate.

在文件 ndt_map_node.cc 第 94 行定义.

                                                                            {
  const Eigen::Vector2d& left_top_corner = GetLeftTopCorner();
  Eigen::Vector2d coord_2d;
  coord_2d[0] =
      left_top_corner[0] + (static_cast<double>(x) + 0.5) * GetMapResolution();
  coord_2d[1] =
      left_top_corner[1] + (static_cast<double>(y) + 0.5) * GetMapResolution();
 
  double altitude =
      NdtMapCells::CalAltitude(GetMapResolutionZ(), altitude_index);
  Eigen::Vector3d coord_3d;
  coord_3d[0] = coord_2d[0];
  coord_3d[1] = coord_2d[1];
  coord_3d[2] = altitude;
 
  return coord_3d;
}

◆ GetMapResolutionZ()

float apollo::localization::msf::pyramid_map::NdtMapNode::GetMapResolutionZ ( ) const

inline

Get the resolution of this map nodex.

在文件 ndt_map_node.h 第 41 行定义.

                                         {
    return static_cast<const NdtMapConfig*>(map_config_)
        ->map_resolutions_z_[index_.resolution_id_];
  }

◆ Init() [1/2]

void apollo::localization::msf::pyramid_map::NdtMapNode::Init ( const BaseMapConfig * map_config )

virtual

Initialize the map node.

Call this function first before use it!

实现了 apollo::localization::msf::pyramid_map::BaseMapNode.

在文件 ndt_map_node.cc 第 30 行定义.

                                                     {
  map_config_ = map_config;
 
  map_node_config_.reset(new NdtMapNodeConfig());
  map_node_config_->map_version_ = map_config_->GetMapVersion();
  map_node_config_->has_map_version_ = false;
  map_node_config_->has_body_md5_ = false;
  is_reserved_ = false;
  data_is_ready_ = false;
  is_changed_ = false;
  num_valid_cells_ = 0;
  num_valid_single_cells_ = 0;
 
  map_matrix_.reset(new NdtMapMatrix());
  map_matrix_handler_.reset(
      NdtMapMatrixHandlerSelector::AllocNdtMapMatrixHandler());
  compression_strategy_.reset(new ZlibStrategy());
  InitMapMatrix(map_config_);
}

◆ Init() [2/2]

void apollo::localization::msf::pyramid_map::NdtMapNode::Init	(	const BaseMapConfig *	map_config,
		const MapNodeIndex &	index,
		bool	create_map_cells = `true`
	)

virtual

实现了 apollo::localization::msf::pyramid_map::BaseMapNode.

在文件 ndt_map_node.cc 第 49 行定义.

                                                                        {
  map_config_ = map_config;
 
  map_node_config_.reset(new NdtMapNodeConfig());
  map_node_config_->node_index_ = index;
  map_node_config_->map_version_ = map_config_->GetMapVersion();
  left_top_corner_ =
      ComputeLeftTopCorner(*map_config_, map_node_config_->node_index_);
  map_node_config_->has_map_version_ = false;
  map_node_config_->has_body_md5_ = false;
  is_reserved_ = false;
  data_is_ready_ = false;
  is_changed_ = false;
  num_valid_cells_ = 0;
  num_valid_single_cells_ = 0;
 
  map_matrix_.reset(new NdtMapMatrix());
  map_matrix_handler_.reset(
      NdtMapMatrixHandlerSelector::AllocNdtMapMatrixHandler());
  compression_strategy_.reset(new ZlibStrategy());
  if (create_map_cells) {
    InitMapMatrix(map_config_);
  }
}

◆ Reduce()

void apollo::localization::msf::pyramid_map::NdtMapNode::Reduce	(	NdtMapNode *	map_node,
		const NdtMapNode &	map_node_new
	)

static

Combine two map nodes (Reduce operation in mapreduce).

The result is saved in map_node.

在文件 ndt_map_node.cc 第 114 行定义.

                                                                            {
  assert(map_node->index_.m_ == map_node_new.index_.m_);
  assert(map_node->index_.n_ == map_node_new.index_.n_);
  assert(map_node->index_.resolution_id_ == map_node_new.index_.resolution_id_);
  assert(map_node->index_.zone_id_ == map_node_new.index_.zone_id_);
  NdtMapMatrix::Reduce(
      static_cast<NdtMapMatrix*>(map_node->map_matrix_.get()),
      static_cast<const NdtMapMatrix&>(*map_node_new.map_matrix_));
}

类成员变量说明

◆ num_valid_cells_

unsigned int apollo::localization::msf::pyramid_map::NdtMapNode::num_valid_cells_

The number of cells with elements.

在文件 ndt_map_node.h 第 63 行定义.

◆ num_valid_single_cells_

unsigned int apollo::localization::msf::pyramid_map::NdtMapNode::num_valid_single_cells_

The number of single cells with elements.

在文件 ndt_map_node.h 第 65 行定义.

该类的文档由以下文件生成:

modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_node.h
modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_node.cc

Public 成员函数

静态 Public 成员函数

Public 属性

额外继承的成员函数