apollo::perception::camera::PlaneMotion类 参考

#include <plane_motion.h>

apollo::perception::camera::PlaneMotion 的协作图:

Public 类型
enum	{ ACCUM_MOTION = 0 , ACCUM_PUSH_MOTION , PUSH_ACCUM_MOTION , RESET }

Public 成员函数
	PlaneMotion (int s)
	~PlaneMotion ()
void	cleanbuffer ()
void	set_buffer_size (int s)
void	add_new_motion (double pre_image_timestamp, double image_timestamp, int motion_operation_flag, base::VehicleStatus *vehicledata)
base::MotionBuffer	get_buffer ()
bool	find_motion_with_timestamp (double timestamp, base::VehicleStatus *vs)
bool	is_3d_motion () const

详细描述

在文件 plane_motion.h 第 35 行定义.

成员枚举类型说明

anonymous enum

anonymous enum

枚举值
ACCUM_MOTION
ACCUM_PUSH_MOTION
PUSH_ACCUM_MOTION
RESET

在文件 plane_motion.h 第 40 行定义.

{ ACCUM_MOTION = 0, ACCUM_PUSH_MOTION, PUSH_ACCUM_MOTION, RESET };

构造及析构函数说明

PlaneMotion()

apollo::perception::camera::PlaneMotion::PlaneMotion ( int  s )

explicit

在文件 plane_motion.cc 第 28 行定义.

                              {
  set_buffer_size(s);
  if (mat_motion_sensor_.rows() == 3 && mat_motion_sensor_.cols() == 3) {
    is_3d_motion_ = false;
  } else if (mat_motion_sensor_.rows() == 4 && mat_motion_sensor_.cols() == 4) {
    is_3d_motion_ = true;
  } else {
    AERROR << "Unknow motion matrix size : " << mat_motion_sensor_.rows() << " "
           << mat_motion_sensor_.cols();
  }
}

~PlaneMotion()

apollo::perception::camera::PlaneMotion::~PlaneMotion

(

)

在文件 plane_motion.cc 第 40 行定义.

                          {
  if (mot_buffer_ != nullptr) {
    mot_buffer_->clear();
    mot_buffer_ = nullptr;
  }
}

成员函数说明

add_new_motion()

void apollo::perception::camera::PlaneMotion::add_new_motion	(	double	pre_image_timestamp,
		double	image_timestamp,
		int	motion_operation_flag,
		base::VehicleStatus *	vehicledata
	)

在文件 plane_motion.cc 第 160 行定义.

                                                                 {
  while (!raw_motion_queue_.empty() &&
         vehicledata->time_ts < raw_motion_queue_.back().time_ts) {
    raw_motion_queue_.pop_back();
    ADEBUG << "pop ts : back ts" << vehicledata->time_ts << " "
           << raw_motion_queue_.back().time_ts << " "
           << raw_motion_queue_.size();
  }
 
  if (motion_operation_flag != RESET) {
    generate_motion_matrix(vehicledata);
    raw_motion_queue_.push_back(*vehicledata);
    if (static_cast<int>(raw_motion_queue_.size()) > buffer_size_ * 10) {
      AWARN << "MotionQueue is too large, try sync motion/image timestep";
    }
 
    switch (motion_operation_flag) {
      case ACCUM_MOTION:
        // do nothing
        break;
      case ACCUM_PUSH_MOTION:
        accumulate_motion(pre_image_timestamp, image_timestamp);
        update_motion_buffer(*vehicledata, pre_image_timestamp,
                             image_timestamp);
        break;
      default:
        AERROR << "motion operation flag:wrong type";
        return;
    }
  } else {
    mot_buffer_->clear();
    vehicledata->time_d = 0;
    vehicledata->time_ts = image_timestamp;
    vehicledata->motion = base::MotionType::Identity();
    mot_buffer_->push_back(*vehicledata);
    ADEBUG << "pop and rest raw_buffer, mot_buffer: "
           << raw_motion_queue_.size();
  }
}

cleanbuffer()

void apollo::perception::camera::PlaneMotion::cleanbuffer ( )

inline

在文件 plane_motion.h 第 60 行定义.

                     {
    if (mot_buffer_ != nullptr) {
      mot_buffer_->clear();
      mot_buffer_ = nullptr;
    }
 
    mat_motion_sensor_ = base::MotionType::Identity();
  }

find_motion_with_timestamp()

bool apollo::perception::camera::PlaneMotion::find_motion_with_timestamp	(	double	timestamp,
		base::VehicleStatus *	vs
	)

在文件 plane_motion.cc 第 140 行定义.

                                                                    {
  std::lock_guard<std::mutex> lock(mutex_);
  ADEBUG << "mot_buffer_->size(): " << mot_buffer_->size();
 
  for (auto rit = mot_buffer_->rbegin(); rit != mot_buffer_->rend(); ++rit) {
    if (std::abs(rit->time_ts - timestamp) <
        std::numeric_limits<double>::epsilon()) {
      *vs = *rit;
      return true;
    }
  }
  return false;
}

get_buffer()

base::MotionBuffer apollo::perception::camera::PlaneMotion::get_buffer

(

)

在文件 plane_motion.cc 第 155 行定义.

                                         {
  std::lock_guard<std::mutex> lock(mutex_);
  return *mot_buffer_;
}

is_3d_motion()

bool apollo::perception::camera::PlaneMotion::is_3d_motion ( ) const

inline

在文件 plane_motion.h 第 86 行定义.

{ return is_3d_motion_; }

set_buffer_size()

void apollo::perception::camera::PlaneMotion::set_buffer_size ( int  s )

inline

在文件 plane_motion.h 第 69 行定义.

                              {
    cleanbuffer();
    buffer_size_ = s;
    // mot_buffer_.reserve(buffer_size_);
    if (mot_buffer_ == nullptr) {
      mot_buffer_.reset(new base::MotionBuffer(buffer_size_));
    } else {
      mot_buffer_->set_capacity(buffer_size_);
    }
  }

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该类的文档由以下文件生成:

• modules/perception/motion_service/motion/plane_motion.h
• modules/perception/motion_service/motion/plane_motion.cc