apollo::perception::fusion::Sensor类 参考

#include <sensor.h>

apollo::perception::fusion::Sensor 的协作图:

Public 成员函数
	Sensor ()=delete
	Sensor (const base::SensorInfo &sensor_info)
void	QueryLatestFrames (double timestamp, std::vector< SensorFramePtr > *frames)
	query frames whose time stamp is in range (_latest_fused_time_stamp, time_stamp]
SensorFramePtr	QueryLatestFrame (double timestamp)
	query latest frame whose time stamp is in range (_latest_fused_time_stamp, time_stamp]
bool	GetPose (double timestamp, Eigen::Affine3d *pose) const
std::string	GetSensorId () const
base::SensorType	GetSensorType () const
void	AddFrame (const base::FrameConstPtr &frame_ptr)
void	SetLatestQueryTimestamp (const double latest_query_timestamp)

静态 Public 成员函数
static void	SetMaxCachedFrameNumber (size_t number)

详细描述

在文件 sensor.h 第 32 行定义.

构造及析构函数说明

Sensor() [1/2]

apollo::perception::fusion::Sensor::Sensor ( )

delete

Sensor() [2/2]

apollo::perception::fusion::Sensor::Sensor ( const base::SensorInfo &  sensor_info )

inlineexplicit

在文件 sensor.h 第 36 行定义.

      : sensor_info_(sensor_info) {}

成员函数说明

AddFrame()

void apollo::perception::fusion::Sensor::AddFrame

(

const base::FrameConstPtr &

frame_ptr

)

在文件 sensor.cc 第 71 行定义.

                                                        {
  SensorFramePtr frame(new SensorFrame(frame_ptr));
  if (frames_.size() == kMaxCachedFrameNum) {
    frames_.pop_front();
  }
  frames_.emplace_back(frame);
}

GetPose()

bool apollo::perception::fusion::Sensor::GetPose	(	double	timestamp,
		Eigen::Affine3d *	pose
	)		const

在文件 sensor.cc 第 55 行定义.

                                                                {
  if (pose == nullptr) {
    AERROR << "pose is not available";
    return false;
  }
  for (int i = static_cast<int>(frames_.size()) - 1; i >= 0; --i) {
    double time_diff = timestamp - frames_[i]->GetTimestamp();
    if (fabs(time_diff) < 1.0e-3) {  // > ?
      return frames_[i]->GetPose(pose);
    }
  }
 
  AWARN << "Failed to find pose for timestamp: " << timestamp;
  return false;
}

GetSensorId()

std::string apollo::perception::fusion::Sensor::GetSensorId ( ) const

inline

在文件 sensor.h 第 60 行定义.

{ return sensor_info_.name; }

GetSensorType()

base::SensorType apollo::perception::fusion::Sensor::GetSensorType ( ) const

inline

在文件 sensor.h 第 63 行定义.

{ return sensor_info_.type; }

QueryLatestFrame()

SensorFramePtr apollo::perception::fusion::Sensor::QueryLatestFrame

(

double

timestamp

)

query latest frame whose time stamp is in range (_latest_fused_time_stamp, time_stamp]

参数

timestamp

返回

SensorFramePtr

在文件 sensor.cc 第 43 行定义.

                                                        {
  SensorFramePtr latest_frame = nullptr;
  for (size_t i = 0; i < frames_.size(); ++i) {
    if (frames_[i]->GetTimestamp() > latest_query_timestamp_ &&
        frames_[i]->GetTimestamp() <= timestamp) {
      latest_frame = frames_[i];
      latest_query_timestamp_ = frames_[i]->GetTimestamp();
    }
  }
  return latest_frame;
}

QueryLatestFrames()

void apollo::perception::fusion::Sensor::QueryLatestFrames	(	double	timestamp,
		std::vector< SensorFramePtr > *	frames
	)

query frames whose time stamp is in range (_latest_fused_time_stamp, time_stamp]

参数

timestamp
frames

在文件 sensor.cc 第 26 行定义.

                                                                  {
  if (frames == nullptr) {
    AERROR << "frames are not available";
    return;
  }
 
  frames->clear();
  for (size_t i = 0; i < frames_.size(); ++i) {
    if (frames_[i]->GetTimestamp() > latest_query_timestamp_ &&
        frames_[i]->GetTimestamp() <= timestamp) {
      frames->push_back(frames_[i]);
    }
  }
  latest_query_timestamp_ = timestamp;
}

SetLatestQueryTimestamp()

void apollo::perception::fusion::Sensor::SetLatestQueryTimestamp ( const double  latest_query_timestamp )

inline

在文件 sensor.h 第 71 行定义.

                                                                    {
    latest_query_timestamp_ = latest_query_timestamp;
  }

SetMaxCachedFrameNumber()

static void apollo::perception::fusion::Sensor::SetMaxCachedFrameNumber ( size_t  number )

inlinestatic

在文件 sensor.h 第 67 行定义.

                                                            {
    kMaxCachedFrameNum = number;
  }

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该类的文档由以下文件生成:

• modules/perception/multi_sensor_fusion/base/sensor.h
• modules/perception/multi_sensor_fusion/base/sensor.cc