apollo::relative_map::RelativeMap类 参考

#include <relative_map.h>

apollo::relative_map::RelativeMap 的协作图:

Public 成员函数
	RelativeMap ()
std::string	Name () const
	module name
apollo::common::Status	Init (common::VehicleStateProvider *vehicle_state_provider)
	module initialization function
apollo::common::Status	Start ()
	module start function
void	Stop ()
	module stop function
virtual	~RelativeMap ()=default
	destructor
bool	Process (MapMsg *const map_msg)
	main logic of the relative_map module, runs periodically triggered by timer.
void	OnPerception (const perception::PerceptionObstacles &perception_obstacles)
void	OnChassis (const canbus::Chassis &chassis)
void	OnLocalization (const localization::LocalizationEstimate &localization)
void	OnNavigationInfo (const NavigationInfo &navigation_info)

详细描述

在文件 relative_map.h 第 32 行定义.

构造及析构函数说明

RelativeMap()

apollo::relative_map::RelativeMap::RelativeMap

(

)

在文件 relative_map.cc 第 36 行定义.

    : monitor_logger_buffer_(MonitorMessageItem::RELATIVE_MAP),
      vehicle_state_provider_(nullptr) {}

~RelativeMap()

virtual apollo::relative_map::RelativeMap::~RelativeMap ( )

virtualdefault

destructor

成员函数说明

Init()

Status apollo::relative_map::RelativeMap::Init

(

common::VehicleStateProvider *

vehicle_state_provider

)

module initialization function

返回

initialization status

在文件 relative_map.cc 第 40 行定义.

                                                                           {
  vehicle_state_provider_ = vehicle_state_provider;
  if (!FLAGS_use_navigation_mode) {
    AERROR << "FLAGS_use_navigation_mode is false, system is not configured "
              "for relative map mode";
    return Status(ErrorCode::RELATIVE_MAP_ERROR,
                  "FLAGS_use_navigation_mode is not true.");
  }
  config_.Clear();
  if (!cyber::common::GetProtoFromFile(FLAGS_relative_map_config_filename,
                                       &config_)) {
    return Status(ErrorCode::RELATIVE_MAP_ERROR,
                  "Unable to load relative map conf file: " +
                      FLAGS_relative_map_config_filename);
  }
 
  navigation_lane_.SetConfig(config_.navigation_lane());
  navigation_lane_.SetVehicleStateProvider(vehicle_state_provider);
  const auto& map_param = config_.map_param();
  navigation_lane_.SetDefaultWidth(map_param.default_left_width(),
                                   map_param.default_right_width());
 
  return Status::OK();
}

Name()

std::string apollo::relative_map::RelativeMap::Name ( ) const

inline

module name

在文件 relative_map.h 第 39 行定义.

{ return "RelativeMap"; }

OnChassis()

void apollo::relative_map::RelativeMap::OnChassis

(

const canbus::Chassis &

chassis

)

在文件 relative_map.cc 第 99 行定义.

                                                  {
  {
    std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
    chassis_.CopyFrom(chassis);
  }
}

OnLocalization()

void apollo::relative_map::RelativeMap::OnLocalization

(

const localization::LocalizationEstimate &

localization

)

在文件 relative_map.cc 第 106 行定义.

                                                                         {
  {
    std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
    localization_.CopyFrom(localization);
  }
}

OnNavigationInfo()

void apollo::relative_map::RelativeMap::OnNavigationInfo

(

const NavigationInfo &

navigation_info

)

在文件 relative_map.cc 第 84 行定义.

                                                                        {
  {
    std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
    navigation_lane_.UpdateNavigationInfo(navigation_info);
  }
}

OnPerception()

void apollo::relative_map::RelativeMap::OnPerception

(

const perception::PerceptionObstacles &

perception_obstacles

)

在文件 relative_map.cc 第 91 行定义.

                                                     {
  {
    std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
    perception_obstacles_.CopyFrom(perception_obstacles);
  }
}

Process()

bool apollo::relative_map::RelativeMap::Process

(

MapMsg *const

map_msg

)

main logic of the relative_map module, runs periodically triggered by timer.

在文件 relative_map.cc 第 76 行定义.

                                               {
  {
    std::lock_guard<std::mutex> lock(navigation_lane_mutex_);
    CreateMapFromNavigationLane(map_msg);
  }
  return true;
}

Start()

apollo::common::Status apollo::relative_map::RelativeMap::Start

(

)

module start function

返回

start status

在文件 relative_map.cc 第 71 行定义.

                                      {
  monitor_logger_buffer_.INFO("RelativeMap started");
  return Status::OK();
}

Stop()

void apollo::relative_map::RelativeMap::Stop

(

)

module stop function

在文件 relative_map.cc 第 152 行定义.

{ monitor_logger_buffer_.INFO("RelativeMap stopped"); }

---

该类的文档由以下文件生成:

• modules/map/relative_map/relative_map.h
• modules/map/relative_map/relative_map.cc