apollo::perception::MsgAdapterComponent类 参考

#include <msg_adapter_component.h>

类 apollo::perception::MsgAdapterComponent 继承关系图:

apollo::perception::MsgAdapterComponent 的协作图:

Public 成员函数
	MsgAdapterComponent ()=default
	~MsgAdapterComponent ()=default
bool	Init () override
Public 成员函数 继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()
	~Component () override
bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.
bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const TimerComponentConfig &config)
virtual void	Shutdown ()
template<typename T >
bool	GetProtoConfig (T *config) const

额外继承的成员函数
Public 类型 继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >
Protected 成员函数 继承自 apollo::cyber::ComponentBase
virtual void	Clear ()
const std::string &	ConfigFilePath () const
void	LoadConfigFiles (const ComponentConfig &config)
void	LoadConfigFiles (const TimerComponentConfig &config)
Protected 属性 继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}
std::shared_ptr< Node >	node_ = nullptr
std::string	config_file_path_ = ""
std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 msg_adapter_component.h 第 27 行定义.

构造及析构函数说明

MsgAdapterComponent()

apollo::perception::MsgAdapterComponent::MsgAdapterComponent ( )

default

~MsgAdapterComponent()

apollo::perception::MsgAdapterComponent::~MsgAdapterComponent ( )

default

成员函数说明

Init()

bool apollo::perception::MsgAdapterComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 msg_adapter_component.cc 第 24 行定义.

                               {
  msg_converter_ = std::make_shared<MsgConverter>(node_);
  // register message conversion
  msg_converter_->Add(FLAGS_cameraframe_to_obstacles_in,
                      FLAGS_cameraframe_to_obstacles_out,
                      ConvertCameraFrame2Obstacles);
  AINFO << "cameraframe_to_obstacles_in: "
        << FLAGS_cameraframe_to_obstacles_in
        << " cameraframe_to_obstacles_out: "
        << FLAGS_cameraframe_to_obstacles_out;
 
  msg_converter_->Add(FLAGS_sensorframe_message_to_obstacles_in,
                      FLAGS_sensorframe_message_to_obstacles_out,
                      ConvertSensorFrameMessage2Obstacles);
  AINFO << "sensorframe_message_to_obstacles_in: "
        << FLAGS_sensorframe_message_to_obstacles_in
        << " sensorframe_message_to_obstacles_out: "
        << FLAGS_sensorframe_message_to_obstacles_out;
 
  msg_converter_->Add(FLAGS_lidarframe_to_obstacles_in,
                      FLAGS_lidarframe_to_obstacles_out,
                      ConvertLidarFrameMessage2Obstacles);
  AINFO << "lidarframe_to_obstacles_in: "
        << FLAGS_lidarframe_to_obstacles_in
        << " lidarframe_to_obstacles_out: "
        << FLAGS_lidarframe_to_obstacles_out;
 
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/msg_adapter/msg_adapter_component.h
• modules/perception/msg_adapter/msg_adapter_component.cc