apollo::perception::lidar::GroundService类 参考

#include <ground_service.h>

类 apollo::perception::lidar::GroundService 继承关系图:

apollo::perception::lidar::GroundService 的协作图:

Public 成员函数
	GroundService ()=default
	~GroundService ()
bool	Init (const SceneServiceInitOptions &options=SceneServiceInitOptions()) override
std::string	Name () const override
GroundServiceContent *	GetGroundServiceContent () const
float	QueryPointToGroundDistance (const Eigen::Vector3d &world_point)
float	QueryPointToGroundDistance (const Eigen::Vector3d &world_point, const GroundServiceContent &content)
Public 成员函数 继承自 apollo::perception::lidar::SceneService
	SceneService ()=default
virtual	~SceneService ()=default
void	GetServiceContentCopy (SceneServiceContent *content)
void	UpdateServiceContent (const SceneServiceContent &content)

Protected 属性
GroundServiceContent *	ground_content_ref_ = nullptr
Protected 属性 继承自 apollo::perception::lidar::SceneService
SceneServiceContentPtr	self_content_
std::mutex	mutex_

详细描述

在文件 ground_service.h 第 73 行定义.

构造及析构函数说明

GroundService()

apollo::perception::lidar::GroundService::GroundService ( )

default

~GroundService()

apollo::perception::lidar::GroundService::~GroundService ( )

inline

在文件 ground_service.h 第 76 行定义.

{ ground_content_ref_ = nullptr; }

成员函数说明

GetGroundServiceContent()

GroundServiceContent * apollo::perception::lidar::GroundService::GetGroundServiceContent ( ) const

inline

在文件 ground_service.h 第 85 行定义.

                                                        {
    return ground_content_ref_;
  }

Init()

bool apollo::perception::lidar::GroundService::Init ( const SceneServiceInitOptions &  options = SceneServiceInitOptions() )

overridevirtual

实现了 apollo::perception::lidar::SceneService.

在文件 ground_service.cc 第 133 行定义.

                                                               {
  self_content_.reset(new GroundServiceContent);
  ground_content_ref_ =
      dynamic_cast<GroundServiceContent*>(self_content_.get());
  // initialize ground service content from config manager and proto
  // including resolution, grid size, ...
  std::string config_file = FLAGS_ground_service_file;
  if (!options.config_file.empty()) {
    config_file = options.config_file;
  }
 
  config_file = GetCommonConfigFile(config_file);
 
  GroundServiceConfig config_params;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config_params))
      << "Failed to parse GroundServiceConfig config file.";
 
  double roi_region_rad_x = config_params.roi_rad_x();
  double roi_region_rad_y = config_params.roi_rad_y();
  uint32_t rows = config_params.grid_size();
  uint32_t cols = config_params.grid_size();
 
  ground_content_ref_->Init(roi_region_rad_x, roi_region_rad_y, rows, cols);
 
  return true;
}

Name()

std::string apollo::perception::lidar::GroundService::Name ( ) const

inlineoverridevirtual

实现了 apollo::perception::lidar::SceneService.

在文件 ground_service.h 第 83 行定义.

{ return "GroundService"; }

QueryPointToGroundDistance() [1/2]

float apollo::perception::lidar::GroundService::QueryPointToGroundDistance

(

const Eigen::Vector3d &

world_point

)

在文件 ground_service.cc 第 160 行定义.

                                      {
  std::lock_guard<std::mutex> lock(mutex_);
  float distance =
      QueryPointToGroundDistance(world_point, *ground_content_ref_);
  return distance;
}

QueryPointToGroundDistance() [2/2]

float apollo::perception::lidar::GroundService::QueryPointToGroundDistance	(	const Eigen::Vector3d &	world_point,
		const GroundServiceContent &	content
	)

在文件 ground_service.cc 第 168 行定义.

                                                                           {
  return content.PointToPlaneDistance(world_point);
}

类成员变量说明

ground_content_ref_

GroundServiceContent* apollo::perception::lidar::GroundService::ground_content_ref_ = nullptr

protected

在文件 ground_service.h 第 102 行定义.

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该类的文档由以下文件生成:

• modules/perception/common/lidar/scene_manager/ground_service/ground_service.h
• modules/perception/common/lidar/scene_manager/ground_service/ground_service.cc