#include <radar_detection_component.h>

类 apollo::perception::radar::RadarDetectionComponent 继承关系图:

apollo::perception::radar::RadarDetectionComponent 的协作图:

Public 成员函数
	RadarDetectionComponent ()

	~RadarDetectionComponent ()=default

bool	Init () override

bool	Proc (const std::shared_ptr< ContiRadar > &message) override

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

	~Component () override

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

bool	Process (const std::shared_ptr< ContiRadar > &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 radar_detection_component.h 第 42 行定义.

构造及析构函数说明

◆ RadarDetectionComponent()

apollo::perception::radar::RadarDetectionComponent::RadarDetectionComponent ( )

inline

在文件 radar_detection_component.h 第 44 行定义.

      : seq_num_(0),
        tf_child_frame_id_(""),
        radar_forward_distance_(200.0),
        odometry_channel_name_(""),
        hdmap_input_(nullptr),
        radar_preprocessor_(nullptr),
        radar_perception_(nullptr) {}

◆ ~RadarDetectionComponent()

apollo::perception::radar::RadarDetectionComponent::~RadarDetectionComponent ( )

default

成员函数说明

◆ Init()

bool apollo::perception::radar::RadarDetectionComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 radar_detection_component.cc 第 29 行定义.

                                   {
  RadarComponentConfig comp_config;
  if (!GetProtoConfig(&comp_config)) {
    return false;
  }
  AINFO << "Radar component config: " << comp_config.DebugString();
 
  // To load component configs
  tf_child_frame_id_ = comp_config.tf_child_frame_id();
  radar_forward_distance_ = comp_config.radar_forward_distance();
  odometry_channel_name_ = comp_config.odometry_channel_name();
 
  if (!algorithm::SensorManager::Instance()->GetSensorInfo(
          comp_config.radar_name(), &radar_info_)) {
    AERROR << "Failed to get sensor info, sensor name: "
           << comp_config.radar_name();
    return false;
  }
 
  writer_ = node_->CreateWriter<onboard::SensorFrameMessage>(
      comp_config.output_channel_name());
 
  // Init algorithm plugin
  ACHECK(InitAlgorithmPlugin(comp_config))
      << "Failed to init algorithm plugin.";
 
  radar2world_trans_.Init(tf_child_frame_id_);
  radar2novatel_trans_.Init(tf_child_frame_id_);
  localization_subscriber_.Init(
      odometry_channel_name_,
      odometry_channel_name_ + '_' + comp_config.radar_name());
  return true;
}

◆ Proc()

bool apollo::perception::radar::RadarDetectionComponent::Proc ( const std::shared_ptr< ContiRadar > & message )

override

在文件 radar_detection_component.cc 第 63 行定义.

                                                                           {
  AINFO << "Enter radar preprocess, message timestamp: "
        << message->header().timestamp_sec() << " current timestamp "
        << Clock::NowInSeconds();
  auto out_message = std::make_shared<onboard::SensorFrameMessage>();
 
  if (!InternalProc(message, out_message)) {
    return false;
  }
  writer_->Write(out_message);
  return true;
}

该类的文档由以下文件生成:

modules/perception/radar_detection/radar_detection_component.h
modules/perception/radar_detection/radar_detection_component.cc

Public 成员函数