apollo::localization::msf::pyramid_map::PyramidMap类 参考

#include <pyramid_map.h>

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

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

Public 成员函数
	PyramidMap (PyramidMapConfig *config)
	~PyramidMap ()
float	GetIntensitySafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return intensity, if necessary.
float	GetIntensityVarSafe (const Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache and return intensity var, if necessary.
float	GetAltitudeSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude, if necessary.
float	GetAltitudeVarSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude var, if necessary.
float	GetGroundAltitudeSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return ground altitude, if necessary.
unsigned int	GetCountSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Get the number of samples in the map cell thread safely.
unsigned int	GetGroundCountSafe (const Eigen::Vector3d &coordinate, int zone_id, unsigned int resolution_id, unsigned int level=0)
	Get the number of ground samples in the map cell thread safely.
Public 成员函数 继承自 apollo::localization::msf::pyramid_map::BaseMap
	BaseMap (BaseMapConfig *config)
	The constructor.
virtual	~BaseMap ()
	The destructor.
virtual void	InitMapNodeCaches (int cacheL1_size, int cahceL2_size)
void	AttachMapNodePool (BaseMapNodePool *p_map_node_pool)
	Attach map node pointer.
BaseMapNode *	GetMapNode (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, return false.
BaseMapNode *	GetMapNodeSafe (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, safely load it.
bool	IsMapNodeExist (const MapNodeIndex &index)
	Check if the map node in the cache.
bool	SetMapFolderPath (const std::string folder_path)
	Set the directory of the map.
void	AddDataset (const std::string dataset_path)
	Add a dataset path to the map config.
void	Release ()
	Release resources.
virtual void	PreloadMapArea (const Eigen::Vector3d &location, const Eigen::Vector3d &trans_diff, unsigned int resolution_id, unsigned int zone_id)
	Preload map nodes for the next frame location calculation.
virtual bool	LoadMapArea (const Eigen::Vector3d &seed_pt3d, unsigned int resolution_id, unsigned int zone_id, int filter_size_x, int filter_size_y)
	Load map nodes for the location calculate of this frame.
void	ComputeMd5ForAllMapNodes ()
	Compute md5 for all map node file in map.
bool	CheckMap ()
	Check if map is normal.
bool	CheckMapStrictly ()
	Check if map is normal(with map node checking).
const BaseMapConfig &	GetMapConfig () const
	Get the map config.
BaseMapConfig &	GetMapConfig ()
	Get the map config.
const std::vector< std::string > &	GetAllMapNodePaths () const
	Get all map node paths.
const std::vector< std::string > &	GetAllMapNodeMd5s () const
	Get all map node md5s.

额外继承的成员函数
Protected 成员函数 继承自 apollo::localization::msf::pyramid_map::BaseMap
void	GetAllMapIndexAndPath ()
MapNodeIndex	GetMapIndexFromMapPath (const std::string &map_path)
void	LoadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index.
void	PreloadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index.
void	LoadMapNodeThreadSafety (const MapNodeIndex &index, bool is_reserved=false)
	Load map node by index, thread_safety.
void	CheckAndUpdateCache (std::set< MapNodeIndex > *map_ids)
	Check map node in L2 Cache.
Protected 属性 继承自 apollo::localization::msf::pyramid_map::BaseMap
BaseMapConfig *	map_config_ = nullptr
	The map settings.
MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl1_
MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl2_
std::unique_ptr< MapNodeCache< MapNodeIndex, BaseMapNode > >	map_node_cache_lvl1_ = nullptr
	The cache for map node preload.
std::unique_ptr< MapNodeCache< MapNodeIndex, BaseMapNode > >	map_node_cache_lvl2_ = nullptr
	brief The dynamic map node preloading thread pool pointer.
BaseMapNodePool *	map_node_pool_ = nullptr
	The map node memory pool pointer.
std::set< MapNodeIndex >	map_preloading_task_index_
	@bried Keep the index of preloading nodes.
boost::recursive_mutex	map_load_mutex_
	The mutex for preload map node.
std::vector< MapNodeIndex >	all_map_node_indices_
	All the map nodes in the Map (in the disk).
std::vector< std::string >	all_map_node_paths_
std::vector< std::string >	all_map_node_md5s_
	All the map nodes' md5 in the Map (in the disk).

详细描述

在文件 pyramid_map.h 第 26 行定义.

构造及析构函数说明

PyramidMap()

apollo::localization::msf::pyramid_map::PyramidMap::PyramidMap ( PyramidMapConfig *  config )

explicit

在文件 pyramid_map.cc 第 26 行定义.

: BaseMap(config) {}

~PyramidMap()

apollo::localization::msf::pyramid_map::PyramidMap::~PyramidMap

(

)

在文件 pyramid_map.cc 第 28 行定义.

{}

成员函数说明

GetAltitudeSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetAltitudeSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude, if necessary.

在文件 pyramid_map.cc 第 48 行定义.

                                                      {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetAltitudeSafe(coordinate, level);
}

GetAltitudeVarSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetAltitudeVarSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return altitude var, if necessary.

在文件 pyramid_map.cc 第 57 行定义.

                                                         {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetAltitudeVarSafe(coordinate, level);
}

GetCountSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMap::GetCountSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Get the number of samples in the map cell thread safely.

在文件 pyramid_map.cc 第 75 行定义.

                                                          {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetCountSafe(coordinate, level);
}

GetGroundAltitudeSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetGroundAltitudeSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return ground altitude, if necessary.

在文件 pyramid_map.cc 第 66 行定义.

                                                            {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetGroundAltitudeSafe(coordinate, level);
}

GetGroundCountSafe()

unsigned int apollo::localization::msf::pyramid_map::PyramidMap::GetGroundCountSafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Get the number of ground samples in the map cell thread safely.

在文件 pyramid_map.cc 第 84 行定义.

                                                                {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetGroundCountSafe(coordinate, level);
}

GetIntensitySafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetIntensitySafe	(	const Eigen::Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache thread safely and return intensity, if necessary.

在文件 pyramid_map.cc 第 30 行定义.

                                                       {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetIntensitySafe(coordinate, level);
}

GetIntensityVarSafe()

float apollo::localization::msf::pyramid_map::PyramidMap::GetIntensityVarSafe	(	const Vector3d &	coordinate,
		int	zone_id,
		unsigned int	resolution_id,
		unsigned int	level = 0
	)

Given the 3D global coordinate, this function loads the corresponding map node in the cache and return intensity var, if necessary.

在文件 pyramid_map.cc 第 39 行定义.

                                                          {
  MapNodeIndex index = MapNodeIndex::GetMapNodeIndex(GetMapConfig(), coordinate,
                                                     resolution_id, zone_id);
  PyramidMapNode* node = dynamic_cast<PyramidMapNode*>(GetMapNodeSafe(index));
  return node->GetIntensityVarSafe(coordinate, level);
}

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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.h
• modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map.cc