apollo::perception::lidar::PointCloudGroundDetectComponent类 参考

#include <pointcloud_ground_detection_component.h>

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

apollo::perception::lidar::PointCloudGroundDetectComponent 的协作图:

Public 成员函数
	PointCloudGroundDetectComponent ()=default
virtual	~PointCloudGroundDetectComponent ()=default
bool	Init () override
	Init pointcloud ground detection
bool	Proc (const std::shared_ptr< LidarFrameMessage > &message) override
	Process of pointcloud ground detection
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 pointcloud_ground_detection_component.h 第 35 行定义.

构造及析构函数说明

PointCloudGroundDetectComponent()

apollo::perception::lidar::PointCloudGroundDetectComponent::PointCloudGroundDetectComponent ( )

default

~PointCloudGroundDetectComponent()

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

virtualdefault

成员函数说明

Init()

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

overridevirtual

Init pointcloud ground detection

返回

true

false

实现了 apollo::cyber::ComponentBase.

在文件 pointcloud_ground_detection_component.cc 第 27 行定义.

                                           {
  PointCloudGroundDetectComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    AERROR << "Get PointCloudGroundDetectComponentConfig file failed";
    return false;
  }
  AINFO << "PointCloud Ground Detect Component Configs: "
        << comp_config.DebugString();
  output_channel_name_ = comp_config.output_channel_name();
  writer_ =
      node_->CreateWriter<onboard::LidarFrameMessage>(output_channel_name_);
 
  // groun detector
  auto plugin_param = comp_config.plugin_param();
  std::string ground_detector_name = plugin_param.name();
  ground_detector_ =
      BaseGroundDetectorRegisterer::GetInstanceByName(ground_detector_name);
  CHECK_NOTNULL(ground_detector_);
 
  GroundDetectorInitOptions ground_detector_init_options;
  ground_detector_init_options.config_path = plugin_param.config_path();
  ground_detector_init_options.config_file = plugin_param.config_file();
  ACHECK(ground_detector_->Init(ground_detector_init_options))
      << "Failed to init ground detection.";
  return true;
}

Proc()

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

override

Process of pointcloud ground detection

参数

message

lidar frame message

返回

true

false

在文件 pointcloud_ground_detection_component.cc 第 54 行定义.

                                                     {
  PERF_FUNCTION()
  // internal proc
  bool status = InternalProc(message);
  if (status) {
    writer_->Write(message);
    AINFO << "Send pointcloud ground detect output message.";
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/pointcloud_ground_detection/pointcloud_ground_detection_component.h
• modules/perception/pointcloud_ground_detection/pointcloud_ground_detection_component.cc