#include <hdmap_input.h>

apollo::perception::map::HDMapInput 的协作图:

Public 类型
template<class EigenType >
using	EigenVector = apollo::common::EigenVector< EigenType >

Public 成员函数
bool	Init ()

bool	Reset ()

bool	GetRoiHDMapStruct (const base::PointD &pointd, const double distance, std::shared_ptr< base::HdmapStruct > hdmap_struct_prt)

bool	GetNearestLaneDirection (const base::PointD &pointd, Eigen::Vector3d *lane_direction)

bool	GetSignals (const Eigen::Vector3d &pointd, double forward_distance, std::vector< apollo::hdmap::Signal > *signals)

bool	GetBarrierGates (const Eigen::Vector3d &pointd, double forward_distance, std::vector< apollo::hdmap::BarrierGate > *barrier_gates)

详细描述

在文件 hdmap_input.h 第 34 行定义.

成员类型定义说明

◆ EigenVector

template<class EigenType >

using apollo::perception::map::HDMapInput::EigenVector = apollo::common::EigenVector<EigenType>

在文件 hdmap_input.h 第 37 行定义.

成员函数说明

◆ GetBarrierGates()

bool apollo::perception::map::HDMapInput::GetBarrierGates	(	const Eigen::Vector3d &	pointd,
		double	forward_distance,
		std::vector< apollo::hdmap::BarrierGate > *	barrier_gates
	)

在文件 hdmap_input.cc 第 441 行定义.

                                                      {
  lib::MutexLock lock(&mutex_);
  if (hdmap_.get() == nullptr) {
    AERROR << "hdmap is not available";
    return false;
  }
  return GetBarrierGatesFromHDMap(pointd, forward_distance, barrier_gates);
}

◆ GetNearestLaneDirection()

bool apollo::perception::map::HDMapInput::GetNearestLaneDirection	(	const base::PointD &	pointd,
		Eigen::Vector3d *	lane_direction
	)

在文件 hdmap_input.cc 第 353 行定义.

                                                                        {
  // if (hdmap_ == nullptr) {
  //   return false;
  // }
  // apollo::common::PointENU point;
  // point.set_x(pointd.x);
  // point.set_y(pointd.y);
  // point.set_z(pointd.z);
  // apollo::hdmap::LaneInfoConstPtr nearest_lane;
  // double nearest_s = 0.0;
  // double nearest_l = 0.0;
  // // get nearest lane of query point
  // int status = hdmap_->GetNearestLane(point, &nearest_lane,
  //     &nearest_s, &nearest_l);
  // if (status != 0) {
  //   AINFO << "Failed to get nearest lane for point " <<
  //   point.DebugString();
  //   return false;
  // }
  // // get lane heading of nearest s
  // const adu::hdmap::Trajectory& nearest_lane_trajectory
  //   = nearest_lane->trajectory();
  // double lane_heading
  //   = nearest_lane_trajectory.get_smooth_point(nearest_s).heading();
  // *lane_direction = Eigen::Vector3d(cos(lane_heading), sin(lane_heading), 0);
  return true;
}

◆ GetRoiHDMapStruct()

bool apollo::perception::map::HDMapInput::GetRoiHDMapStruct	(	const base::PointD &	pointd,
		const double	distance,
		std::shared_ptr< base::HdmapStruct >	hdmap_struct_prt
	)

在文件 hdmap_input.cc 第 97 行定义.

                                                     {
  lib::MutexLock lock(&mutex_);
  if (hdmap_.get() == nullptr) {
    AERROR << "hdmap is not available";
    return false;
  }
  // Get original road boundary and junction
  std::vector<RoadRoiPtr> road_boundary_vec;
  std::vector<JunctionInfoConstPtr> junctions_vec;
  apollo::common::PointENU point;
  point.set_x(pointd.x);
  point.set_y(pointd.y);
  point.set_z(pointd.z);
  if (hdmap_->GetRoadBoundaries(point, distance, &road_boundary_vec,
                                &junctions_vec) != 0) {
    AERROR << "Failed to get road boundary, point: " << point.DebugString();
    return false;
  }
  junctions_vec.clear();
  if (hdmap_->GetJunctions(point, distance, &junctions_vec) != 0) {
    AERROR << "Failed to get junctions, point: " << point.DebugString();
    return false;
  }
  if (hdmap_struct_ptr == nullptr) {
    return false;
  }
  hdmap_struct_ptr->hole_polygons.clear();
  hdmap_struct_ptr->junction_polygons.clear();
  hdmap_struct_ptr->road_boundary.clear();
  hdmap_struct_ptr->road_polygons.clear();
 
  // Merge boundary and junction
  EigenVector<base::RoadBoundary> road_boundaries;
  MergeBoundaryJunction(road_boundary_vec, junctions_vec, &road_boundaries,
                        &(hdmap_struct_ptr->road_polygons),
                        &(hdmap_struct_ptr->junction_polygons));
  // Filter road boundary by junction
  GetRoadBoundaryFilteredByJunctions(road_boundaries,
                                     hdmap_struct_ptr->junction_polygons,
                                     &(hdmap_struct_ptr->road_boundary));
  return true;
}

◆ GetSignals()

bool apollo::perception::map::HDMapInput::GetSignals	(	const Eigen::Vector3d &	pointd,
		double	forward_distance,
		std::vector< apollo::hdmap::Signal > *	signals
	)

在文件 hdmap_input.cc 第 430 行定义.

                                                                   {
  lib::MutexLock lock(&mutex_);
  if (hdmap_.get() == nullptr) {
    AERROR << "hdmap is not available";
    return false;
  }
  return GetSignalsFromHDMap(pointd, forward_distance, signals);
}

◆ Init()

bool apollo::perception::map::HDMapInput::Init ( )

在文件 hdmap_input.cc 第 49 行定义.

                      {
  lib::MutexLock lock(&mutex_);
  return InitInternal();
}

◆ Reset()

bool apollo::perception::map::HDMapInput::Reset ( )

在文件 hdmap_input.cc 第 65 行定义.

                       {
  lib::MutexLock lock(&mutex_);
  inited_ = false;
  return InitInternal();
}

该类的文档由以下文件生成:

modules/perception/common/hdmap/hdmap_input.h
modules/perception/common/hdmap/hdmap_input.cc

Public 类型

Public 成员函数