apollo::perception::radar::RadarTrack类 参考

#include <radar_track.h>

apollo::perception::radar::RadarTrack 的协作图:

Public 成员函数
	RadarTrack (const base::ObjectPtr &obs, const double timestamp)
	Construct a new Radar Track object
	~RadarTrack ()
void	UpdataObsRadar (const base::ObjectPtr &obs_radar, const double timestamp)
	update the object after association with a radar obervation
void	SetObsRadarNullptr ()
	Set the Obs Radar Nullptr object
int	GetObsId () const
	Get the Obs Id object
base::ObjectPtr	GetObsRadar ()
	Get the Obs Radar object
base::ObjectPtr	GetObs ()
	Get the Obs object
double	GetTimestamp ()
	Get the Timestamp object
double	GetTrackingTime ()
	Get the Tracking Time object
bool	IsDead ()
	Track state is dead or not
void	SetDead ()
	Set the Dead object
bool	ConfirmTrack ()
	If the target tracking time is greater than the set threshold, which means that the target has been tracked.

静态 Public 成员函数
static void	SetTrackedTimesThreshold (const int &threshold)
	Set the Tracked Times Threshold object
static void	SetChosenFilter (const std::string &chosen_filter)
	Set the Chosen Filter object
static void	SetUseFilter (bool use_filter)
	Set the Use Filter object

详细描述

在文件 radar_track.h 第 31 行定义.

构造及析构函数说明

RadarTrack()

apollo::perception::radar::RadarTrack::RadarTrack	(	const base::ObjectPtr &	obs,
		const double	timestamp
	)

Construct a new Radar Track object

参数

obs
timestamp

在文件 radar_track.cc 第 31 行定义.

                                                                       {
  s_current_idx_ %= MAX_RADAR_IDX;
  obs_id_ = s_current_idx_++;
  obs_radar_ = base::ObjectPool::Instance().Get();
  *obs_radar_ = *obs;
  obs_ = base::ObjectPool::Instance().Get();
  *obs_ = *obs;
  timestamp_ = timestamp;
  tracked_times_ = 1;
  tracking_time_ = 0.0;
  is_dead_ = false;
 
  // Or use register class instead.
  filter_.reset(new AdaptiveKalmanFilter);
  filter_->Init(*obs);
}

~RadarTrack()

apollo::perception::radar::RadarTrack::~RadarTrack ( )

inline

在文件 radar_track.h 第 40 行定义.

{}

成员函数说明

ConfirmTrack()

bool apollo::perception::radar::RadarTrack::ConfirmTrack ( )

inline

If the target tracking time is greater than the set threshold, which means that the target has been tracked.

返回

true

false

在文件 radar_track.h 第 112 行定义.

{ return tracked_times_ > s_tracked_times_threshold_; }

GetObs()

base::ObjectPtr apollo::perception::radar::RadarTrack::GetObs

(

)

Get the Obs object

返回

base::ObjectPtr

在文件 radar_track.cc 第 78 行定义.

{ return obs_; }

GetObsId()

int apollo::perception::radar::RadarTrack::GetObsId

(

)

const

Get the Obs Id object

返回

int

在文件 radar_track.cc 第 80 行定义.

{ return obs_id_; }

GetObsRadar()

base::ObjectPtr apollo::perception::radar::RadarTrack::GetObsRadar

(

)

Get the Obs Radar object

返回

base::ObjectPtr

在文件 radar_track.cc 第 76 行定义.

{ return obs_radar_; }

GetTimestamp()

double apollo::perception::radar::RadarTrack::GetTimestamp

(

)

Get the Timestamp object

返回

double

在文件 radar_track.cc 第 82 行定义.

{ return timestamp_; }

GetTrackingTime()

double apollo::perception::radar::RadarTrack::GetTrackingTime

(

)

Get the Tracking Time object

返回

double

在文件 radar_track.cc 第 84 行定义.

{ return tracking_time_; }

IsDead()

bool apollo::perception::radar::RadarTrack::IsDead ( )

inline

Track state is dead or not

返回

true

false

在文件 radar_track.h 第 97 行定义.

{ return is_dead_; }

SetChosenFilter()

static void apollo::perception::radar::RadarTrack::SetChosenFilter ( const std::string &  chosen_filter )

inlinestatic

Set the Chosen Filter object

参数

chosen_filter

在文件 radar_track.h 第 128 行定义.

                                                              {
    s_chosen_filter_ = chosen_filter;
  }

SetDead()

void apollo::perception::radar::RadarTrack::SetDead ( )

inline

Set the Dead object

在文件 radar_track.h 第 103 行定义.

{ is_dead_ = true; }

SetObsRadarNullptr()

void apollo::perception::radar::RadarTrack::SetObsRadarNullptr

(

)

Set the Obs Radar Nullptr object

在文件 radar_track.cc 第 71 行定义.

                                    {
  obs_radar_ = nullptr;
  obs_ = nullptr;
}

SetTrackedTimesThreshold()

static void apollo::perception::radar::RadarTrack::SetTrackedTimesThreshold ( const int &  threshold )

inlinestatic

Set the Tracked Times Threshold object

参数

threshold

在文件 radar_track.h 第 119 行定义.

                                                             {
    s_tracked_times_threshold_ = threshold;
  }

SetUseFilter()

static void apollo::perception::radar::RadarTrack::SetUseFilter ( bool  use_filter )

inlinestatic

Set the Use Filter object

参数

use_filter

在文件 radar_track.h 第 137 行定义.

{ s_use_filter_ = use_filter; }

UpdataObsRadar()

void apollo::perception::radar::RadarTrack::UpdataObsRadar	(	const base::ObjectPtr &	obs_radar,
		const double	timestamp
	)

update the object after association with a radar obervation

参数

obs_radar
timestamp

在文件 radar_track.cc 第 48 行定义.

                                                        {
  *obs_radar_ = *obs_radar;
  *obs_ = *obs_radar;
  double time_diff = timestamp - timestamp_;
  if (s_use_filter_) {
    Eigen::VectorXd state;
    state = filter_->UpdateWithObject(*obs_radar_, time_diff);
    obs_->center(0) = static_cast<float>(state(0));
    obs_->center(1) = static_cast<float>(state(1));
    obs_->velocity(0) = static_cast<float>(state(2));
    obs_->velocity(1) = static_cast<float>(state(3));
    Eigen::Matrix4d covariance_matrix = filter_->GetCovarianceMatrix();
    obs_->center_uncertainty(0) = static_cast<float>(covariance_matrix(0, 0));
    obs_->center_uncertainty(1) = static_cast<float>(covariance_matrix(1, 1));
    obs_->velocity_uncertainty(0) = static_cast<float>(covariance_matrix(2, 2));
    obs_->velocity_uncertainty(1) = static_cast<float>(covariance_matrix(3, 3));
  }
  tracking_time_ += time_diff;
  timestamp_ = timestamp;
  ++tracked_times_;
}

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该类的文档由以下文件生成:

• modules/perception/radar_detection/lib/tracker/common/radar_track.h
• modules/perception/radar_detection/lib/tracker/common/radar_track.cc