#include <lidar_tracking_component.h>

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

apollo::perception::lidar::LidarTrackingComponent 的协作图:

Public 成员函数
	LidarTrackingComponent ()=default
	Constructor

virtual	~LidarTrackingComponent ()=default
	Destructor

bool	Init () override
	Initialize the node

bool	Proc (const std::shared_ptr< LidarFrameMessage > &message) override
	Data callback upon receiving a LidarFrameMessage.

Public 成员函数继承自 apollo::cyber::Component< LidarFrameMessage >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< LidarFrameMessage > &msg0, const std::shared_ptr< NullType > &msg1, const std::shared_ptr< NullType > &msg2, const std::shared_ptr< NullType > &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 lidar_tracking_component.h 第 37 行定义.

构造及析构函数说明

◆ LidarTrackingComponent()

apollo::perception::lidar::LidarTrackingComponent::LidarTrackingComponent ( )

default

Constructor

◆ ~LidarTrackingComponent()

virtual apollo::perception::lidar::LidarTrackingComponent::~LidarTrackingComponent ( )

virtualdefault

Destructor

成员函数说明

◆ Init()

bool apollo::perception::lidar::LidarTrackingComponent::Init ( )

overridevirtual

Initialize the node

返回: true if initialized; false

实现了 apollo::cyber::ComponentBase.

在文件 lidar_tracking_component.cc 第 28 行定义.

                                  {
  LidarTrackingComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    AERROR << "Get LidarTrackingComponentConfig file failed";
    return false;
  }
  AINFO << "Lidar Tracking Component Configs: " << comp_config.DebugString();
 
  // writer
  std::string output_channel_name = comp_config.output_channel_name();
  writer_ = node_->CreateWriter<SensorFrameMessage>(output_channel_name);
 
  // multi target tracking init
  auto multi_target_tracker_param = comp_config.multi_target_tracker_param();
  std::string multi_target_tracker_name = multi_target_tracker_param.name();
  multi_target_tracker_ = BaseMultiTargetTrackerRegisterer::GetInstanceByName(
      multi_target_tracker_name);
  CHECK_NOTNULL(multi_target_tracker_);
 
  MultiTargetTrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = multi_target_tracker_param.config_path();
  tracker_init_options.config_file = multi_target_tracker_param.config_file();
  ACHECK(multi_target_tracker_->Init(tracker_init_options));
 
  // // fused classifier init
  // auto fusion_classifier_param = comp_config.fusion_classifier_param();
  // std::string fusion_classifier_name = fusion_classifier_param.name();
  // fusion_classifier_ =
  //     BaseClassifierRegisterer::GetInstanceByName(fusion_classifier_name);
  // CHECK_NOTNULL(fusion_classifier_);
 
  // ClassifierInitOptions fusion_classifier_init_options;
  // fusion_classifier_init_options.config_path =
  //     fusion_classifier_param.config_path();
  // fusion_classifier_init_options.config_file =
  //     fusion_classifier_param.config_file();
  // ACHECK(fusion_classifier_->Init(fusion_classifier_init_options));
  return true;
}

◆ Proc()

bool apollo::perception::lidar::LidarTrackingComponent::Proc ( const std::shared_ptr< LidarFrameMessage > & message )

override

Data callback upon receiving a LidarFrameMessage.

参数

message LidarFrameMessage

返回: true if success; false

在文件 lidar_tracking_component.cc 第 68 行定义.

                                                     {
  PERF_FUNCTION()
  AINFO << std::setprecision(16)
        << "Enter LidarTracking component, message timestamp: "
        << message->timestamp_
        << " current timestamp: " << Clock::NowInSeconds();
 
  auto out_message = std::make_shared<SensorFrameMessage>();
 
  if (InternalProc(message, out_message)) {
    writer_->Write(out_message);
    return true;
  }
 
  AERROR << "Send lidar tracking output message failed!";
  return false;
}

该类的文档由以下文件生成:

modules/perception/lidar_tracking/lidar_tracking_component.h
modules/perception/lidar_tracking/lidar_tracking_component.cc

Public 成员函数