#include <motion_service_component.h>

类 apollo::perception::camera::MotionServiceComponent 继承关系图:

apollo::perception::camera::MotionServiceComponent 的协作图:

Public 成员函数
	MotionServiceComponent ()=default

virtual	~MotionServiceComponent ()

bool	Init () override

bool	GetMotionInformation (double timestamp, base::VehicleStatus *vs)

base::MotionBuffer	GetMotionBuffer ()

double	GetLatestTimestamp ()

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 motion_service_component.h 第 44 行定义.

构造及析构函数说明

◆ MotionServiceComponent()

apollo::perception::camera::MotionServiceComponent::MotionServiceComponent ( )

default

◆ ~MotionServiceComponent()

virtual apollo::perception::camera::MotionServiceComponent::~MotionServiceComponent ( )

inlinevirtual

在文件 motion_service_component.h 第 47 行定义.

47{ delete vehicle_planemotion_; }

成员函数说明

◆ GetLatestTimestamp()

double apollo::perception::camera::MotionServiceComponent::GetLatestTimestamp ( )

在文件 motion_service_component.cc 第 222 行定义.

                                                  {
  return pre_camera_timestamp_;
}

◆ GetMotionBuffer()

base::MotionBuffer apollo::perception::camera::MotionServiceComponent::GetMotionBuffer ( )

在文件 motion_service_component.cc 第 217 行定义.

                                                         {
  std::lock_guard<std::mutex> lock(motion_mutex_);
  return vehicle_planemotion_->get_buffer();
}

◆ GetMotionInformation()

bool apollo::perception::camera::MotionServiceComponent::GetMotionInformation	(	double	timestamp,
		base::VehicleStatus *	vs
	)

在文件 motion_service_component.cc 第 227 行定义.

                                                                         {
  return vehicle_planemotion_->find_motion_with_timestamp(timestamp, vs);
}

◆ Init()

bool apollo::perception::camera::MotionServiceComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 motion_service_component.cc 第 33 行定义.

                                  {
  AINFO << "start to init MotionService.";
  vehicle_planemotion_ = new PlaneMotion(motion_buffer_size_);
 
  // the macro READ_CONF would return cyber::FAIL if config not exists
  apollo::perception::onboard::MotionServiceComponent motion_service_param;
  if (!GetProtoConfig(&motion_service_param)) {
    AINFO << "load lane detection component proto param failed";
    return false;
  }
 
  std::string camera_names_str = motion_service_param.camera_names();
  boost::algorithm::split(camera_names_, camera_names_str,
                          boost::algorithm::is_any_of(","));
 
  std::string input_camera_channel_names_str =
      motion_service_param.input_camera_channel_names();
  boost::algorithm::split(input_camera_channel_names_,
                          input_camera_channel_names_str,
                          boost::algorithm::is_any_of(","));
  if (input_camera_channel_names_.size() != camera_names_.size()) {
    AERROR << "wrong input_camera_channel_names_.size(): "
           << input_camera_channel_names_.size();
    return cyber::FAIL;
  }
 
  // initialize image listener
  const std::string &channel_name_img = input_camera_channel_names_[0];
  const std::string &camera_name = camera_names_[0];
  std::function<void(const ImageMsgType &)> camera_callback =
      std::bind(&MotionServiceComponent::OnReceiveImage, this,
                std::placeholders::_1, camera_name);
  auto camera_reader = node_->CreateReader(channel_name_img, camera_callback);
 
  // initialize localization listener
  const std::string &channel_name_local =
      motion_service_param.input_localization_channel_name();
  std::function<void(const LocalizationMsgType &)> localization_callback =
      std::bind(&MotionServiceComponent::OnLocalization, this,
                std::placeholders::_1);
  auto localization_reader =
      node_->CreateReader(channel_name_local, localization_callback);
 
  // initialize writer to output channel
  writer_ = node_->CreateWriter<MotionService>(
      motion_service_param.output_topic_channel_name());
  AINFO << "init MotionService success.";
  return true;
}

该类的文档由以下文件生成:

modules/perception/motion_service/motion_service_component.h
modules/perception/motion_service/motion_service_component.cc

Public 成员函数

额外继承的成员函数