apollo::third_party_perception::ThirdPartyPerception类 参考

#include <third_party_perception_base.h>

类 apollo::third_party_perception::ThirdPartyPerception 继承关系图:

apollo::third_party_perception::ThirdPartyPerception 的协作图:

Public 成员函数
	ThirdPartyPerception (apollo::cyber::Node *const node)
	ThirdPartyPerception ()=default
virtual	~ThirdPartyPerception ()=default
std::string	Name () const
apollo::common::Status	Init ()
apollo::common::Status	Start ()
void	Stop ()
void	OnLocalization (const apollo::localization::LocalizationEstimate &message)
void	OnChassis (const apollo::canbus::Chassis &message)
virtual bool	Process (apollo::perception::PerceptionObstacles *const response)

Protected 属性
std::mutex	third_party_perception_mutex_
apollo::localization::LocalizationEstimate	localization_
apollo::canbus::Chassis	chassis_
RadarObstacles	current_radar_obstacles_
RadarObstacles	last_radar_obstacles_
std::shared_ptr< apollo::cyber::Node >	node_ = nullptr
std::shared_ptr< apollo::cyber::Reader< apollo::localization::LocalizationEstimate > >	localization_reader_ = nullptr
std::shared_ptr< apollo::cyber::Reader< apollo::canbus::Chassis > >	chassis_reader_ = nullptr

详细描述

在文件 third_party_perception_base.h 第 44 行定义.

构造及析构函数说明

ThirdPartyPerception() [1/2]

apollo::third_party_perception::ThirdPartyPerception::ThirdPartyPerception ( apollo::cyber::Node *const  node )

explicit

在文件 third_party_perception_base.cc 第 29 行定义.

                                 : node_(node) {
 
  localization_reader_ =
      node_->CreateReader<apollo::localization::LocalizationEstimate>(
          FLAGS_localization_topic,
          [this](
              const std::shared_ptr<apollo::localization::LocalizationEstimate>
                  &localization) {
            OnLocalization(*localization.get());
          });
 
  chassis_reader_ = node_->CreateReader<apollo::canbus::Chassis>(
      FLAGS_chassis_topic,
      [this](const std::shared_ptr<apollo::canbus::Chassis> &chassis) {
          OnChassis(*chassis.get());
      });
}

ThirdPartyPerception() [2/2]

apollo::third_party_perception::ThirdPartyPerception::ThirdPartyPerception ( )

default

~ThirdPartyPerception()

virtual apollo::third_party_perception::ThirdPartyPerception::~ThirdPartyPerception ( )

virtualdefault

成员函数说明

Init()

Status apollo::third_party_perception::ThirdPartyPerception::Init

(

)

在文件 third_party_perception_base.cc 第 52 行定义.

                                  {
  return Status::OK();
}

Name()

std::string apollo::third_party_perception::ThirdPartyPerception::Name

(

)

const

在文件 third_party_perception_base.cc 第 48 行定义.

                                           {
  return FLAGS_third_party_perception_node_name;
}

OnChassis()

void apollo::third_party_perception::ThirdPartyPerception::OnChassis

(

const apollo::canbus::Chassis &

message

)

在文件 third_party_perception_base.cc 第 60 行定义.

                                                           {
  ADEBUG << "Received chassis data: run chassis callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  chassis_.CopyFrom(message);
}

OnLocalization()

void apollo::third_party_perception::ThirdPartyPerception::OnLocalization

(

const apollo::localization::LocalizationEstimate &

message

)

在文件 third_party_perception_base.cc 第 66 行定义.

                                                                             {
  ADEBUG << "Received localization data: run localization callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  localization_.CopyFrom(message);
}

Process()

bool apollo::third_party_perception::ThirdPartyPerception::Process ( apollo::perception::PerceptionObstacles *const  response )

virtual

被 apollo::third_party_perception::ThirdPartyPerceptionMobileye , 以及 apollo::third_party_perception::ThirdPartyPerceptionSmartereye 重载.

在文件 third_party_perception_base.cc 第 72 行定义.

                                                                      {
  return true;
}

Start()

Status apollo::third_party_perception::ThirdPartyPerception::Start

(

)

在文件 third_party_perception_base.cc 第 56 行定义.

{ return Status::OK(); }

Stop()

void apollo::third_party_perception::ThirdPartyPerception::Stop

(

)

在文件 third_party_perception_base.cc 第 58 行定义.

{}

类成员变量说明

chassis_

apollo::canbus::Chassis apollo::third_party_perception::ThirdPartyPerception::chassis_

protected

在文件 third_party_perception_base.h 第 65 行定义.

chassis_reader_

std::shared_ptr<apollo::cyber::Reader<apollo::canbus::Chassis> > apollo::third_party_perception::ThirdPartyPerception::chassis_reader_ = nullptr

protected

在文件 third_party_perception_base.h 第 73 行定义.

current_radar_obstacles_

RadarObstacles apollo::third_party_perception::ThirdPartyPerception::current_radar_obstacles_

protected

在文件 third_party_perception_base.h 第 66 行定义.

last_radar_obstacles_

RadarObstacles apollo::third_party_perception::ThirdPartyPerception::last_radar_obstacles_

protected

在文件 third_party_perception_base.h 第 67 行定义.

localization_

apollo::localization::LocalizationEstimate apollo::third_party_perception::ThirdPartyPerception::localization_

protected

在文件 third_party_perception_base.h 第 64 行定义.

localization_reader_

std::shared_ptr< apollo::cyber::Reader<apollo::localization::LocalizationEstimate> > apollo::third_party_perception::ThirdPartyPerception::localization_reader_ = nullptr

protected

在文件 third_party_perception_base.h 第 71 行定义.

node_

std::shared_ptr<apollo::cyber::Node> apollo::third_party_perception::ThirdPartyPerception::node_ = nullptr

protected

在文件 third_party_perception_base.h 第 68 行定义.

third_party_perception_mutex_

std::mutex apollo::third_party_perception::ThirdPartyPerception::third_party_perception_mutex_

protected

在文件 third_party_perception_base.h 第 63 行定义.

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该类的文档由以下文件生成:

• modules/third_party_perception/third_party_perception_base.h
• modules/third_party_perception/third_party_perception_base.cc