apollo::third_party_perception::ThirdPartyPerceptionComponent类 参考

#include <third_party_perception_component.h>

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

apollo::third_party_perception::ThirdPartyPerceptionComponent 的协作图:

Public 成员函数
	ThirdPartyPerceptionComponent ()=default
	~ThirdPartyPerceptionComponent ()=default
bool	Init () override
bool	Proc () override
	The Proc logic of the component, which called by the CyberRT frame.
Public 成员函数 继承自 apollo::cyber::TimerComponent
	TimerComponent ()
	~TimerComponent () override
bool	Initialize (const TimerComponentConfig &config) override
	init the component by protobuf object.
void	Clear () override
bool	Process ()
uint32_t	GetInterval () const
Public 成员函数 继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()
virtual bool	Initialize (const ComponentConfig &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
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 third_party_perception_component.h 第 33 行定义.

构造及析构函数说明

ThirdPartyPerceptionComponent()

apollo::third_party_perception::ThirdPartyPerceptionComponent::ThirdPartyPerceptionComponent ( )

default

~ThirdPartyPerceptionComponent()

apollo::third_party_perception::ThirdPartyPerceptionComponent::~ThirdPartyPerceptionComponent ( )

default

成员函数说明

Init()

bool apollo::third_party_perception::ThirdPartyPerceptionComponent::Init ( )

overridevirtual

实现了 apollo::cyber::ComponentBase.

在文件 third_party_perception_component.cc 第 27 行定义.

                                         {
  apollo::third_party_perception::ThirdPartyPerceptionDevice
      third_party_perception_param;
  if (!GetProtoConfig(&third_party_perception_param)) {
    AINFO << "load third party perception param failed";
    return false;
  }
 
  ThirdPartyPerceptionDeviceType device_type =
      third_party_perception_param.device_type();
 
  if (device_type == ThirdPartyPerceptionDeviceType::SMARTEREYE) {
    perception_ = std::make_shared<ThirdPartyPerceptionSmartereye>(node_.get());
  } else if (device_type == ThirdPartyPerceptionDeviceType::MOBILEYE) {
    perception_ = std::make_shared<ThirdPartyPerceptionMobileye>(node_.get());
  } else {
    perception_ = std::make_shared<ThirdPartyPerception>(node_.get());
  }
 
  if (!perception_->Init().ok()) {
    return false;
  }
 
  writer_ = node_->CreateWriter<apollo::perception::PerceptionObstacles>(
      FLAGS_perception_obstacle_topic);
 
  return perception_->Start().ok();
}

Proc()

bool apollo::third_party_perception::ThirdPartyPerceptionComponent::Proc ( )

overridevirtual

The Proc logic of the component, which called by the CyberRT frame.

返回

returns true if successful, otherwise returns false

实现了 apollo::cyber::TimerComponent.

在文件 third_party_perception_component.cc 第 56 行定义.

                                         {
  auto response = std::make_shared<apollo::perception::PerceptionObstacles>();
  if (!perception_->Process(response.get())) {
    return false;
  }
  writer_->Write(response);
  return true;
}

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该类的文档由以下文件生成:

• modules/third_party_perception/third_party_perception_component.h
• modules/third_party_perception/third_party_perception_component.cc