apollo::perception::fusion::SensorObject类 参考

#include <sensor_object.h>

apollo::perception::fusion::SensorObject 的协作图:

Public 成员函数
	SensorObject ()=delete
	SensorObject (const std::shared_ptr< const base::Object > &object_ptr)
	SensorObject (const std::shared_ptr< const base::Object > &object_ptr, const std::shared_ptr< const SensorFrameHeader > &frame_header)
	SensorObject (const std::shared_ptr< const base::Object > &object_ptr, const std::shared_ptr< SensorFrame > &frame_ptr)
double	GetTimestamp () const
bool	GetRelatedFramePose (Eigen::Affine3d *pose) const
std::string	GetSensorId () const
base::SensorType	GetSensorType () const
std::shared_ptr< const base::Object >	GetBaseObject () const
double	GetInvisiblePeriod () const
void	SetInvisiblePeriod (double period)

详细描述

在文件 sensor_object.h 第 31 行定义.

构造及析构函数说明

SensorObject() [1/4]

apollo::perception::fusion::SensorObject::SensorObject ( )

delete

SensorObject() [2/4]

apollo::perception::fusion::SensorObject::SensorObject ( const std::shared_ptr< const base::Object > &  object_ptr )

explicit

在文件 sensor_object.cc 第 27 行定义.

    : object_(object_ptr), frame_header_(nullptr) {}

SensorObject() [3/4]

apollo::perception::fusion::SensorObject::SensorObject	(	const std::shared_ptr< const base::Object > &	object_ptr,
		const std::shared_ptr< const SensorFrameHeader > &	frame_header
	)

在文件 sensor_object.cc 第 31 行定义.

    : object_(object_ptr), frame_header_(frame_header) {}

SensorObject() [4/4]

apollo::perception::fusion::SensorObject::SensorObject	(	const std::shared_ptr< const base::Object > &	object_ptr,
		const std::shared_ptr< SensorFrame > &	frame_ptr
	)

在文件 sensor_object.cc 第 36 行定义.

    : object_(object_ptr),
      frame_header_((frame_ptr == nullptr) ? nullptr : frame_ptr->GetHeader()) {
}

成员函数说明

GetBaseObject()

std::shared_ptr< const base::Object > apollo::perception::fusion::SensorObject::GetBaseObject ( ) const

inline

在文件 sensor_object.h 第 51 行定义.

                                                               {
    return object_;
  }

GetInvisiblePeriod()

double apollo::perception::fusion::SensorObject::GetInvisiblePeriod ( ) const

inline

在文件 sensor_object.h 第 55 行定义.

{ return invisible_period_; }

GetRelatedFramePose()

bool apollo::perception::fusion::SensorObject::GetRelatedFramePose

(

Eigen::Affine3d *

pose

)

const

在文件 sensor_object.cc 第 51 行定义.

                                                                {
  if (pose == nullptr) {
    AERROR << "pose is not available";
    return false;
  }
  if (frame_header_ == nullptr) {
    return false;
  }
 
  *pose = frame_header_->sensor2world_pose;
  return true;
}

GetSensorId()

std::string apollo::perception::fusion::SensorObject::GetSensorId

(

)

const

在文件 sensor_object.cc 第 64 行定义.

                                          {
  if (frame_header_ == nullptr) {
    return std::string("");
  }
 
  return frame_header_->sensor_info.name;
}

GetSensorType()

base::SensorType apollo::perception::fusion::SensorObject::GetSensorType

(

)

const

在文件 sensor_object.cc 第 72 行定义.

                                                 {
  if (frame_header_ == nullptr) {
    return base::SensorType::UNKNOWN_SENSOR_TYPE;
  }
 
  return frame_header_->sensor_info.type;
}

GetTimestamp()

double apollo::perception::fusion::SensorObject::GetTimestamp

(

)

const

在文件 sensor_object.cc 第 43 行定义.

                                        {
  if (frame_header_ == nullptr) {
    return 0.0;
  }
 
  return frame_header_->timestamp;
}

SetInvisiblePeriod()

void apollo::perception::fusion::SensorObject::SetInvisiblePeriod ( double  period )

inline

在文件 sensor_object.h 第 57 行定义.

{ invisible_period_ = period; }

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该类的文档由以下文件生成:

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